/* Simscape target specific file.

 * This file is generated for the Simscape network associated with the solver block 'PlatformAssem/Solver Configuration'.

 */



#include <math.h>

#include <string.h>

#include "pm_std.h"

#include "sm_std.h"

#include "ne_std.h"

#include "ne_dae.h"

#include "sm_ssci_run_time_errors.h"

#include "sm_CTarget.h"



void PlatformAssem_f0ca4364_1_checkTargets(const double *rtdv, const double

  *state)

{

  (void) rtdv;

  (void) state;

}



void PlatformAssem_f0ca4364_1_setTargets(const double *rtdv, CTarget *targets)

{

  (void) rtdv;

  (void) targets;

}



void PlatformAssem_f0ca4364_1_resetStateVector(const void *mech, double *state)

{

  double xx[2];

  (void) mech;

  xx[0] = 0.0;

  xx[1] = 1.0;

  state[0] = xx[0];

  state[1] = xx[0];

  state[2] = xx[0];

  state[3] = xx[0];

  state[4] = xx[0];

  state[5] = xx[0];

  state[6] = xx[0];

  state[7] = xx[0];

  state[8] = xx[0];

  state[9] = xx[0];

  state[10] = xx[0];

  state[11] = xx[0];

  state[12] = xx[0];

  state[13] = xx[0];

  state[14] = xx[0];

  state[15] = xx[0];

  state[16] = xx[1];

  state[17] = xx[0];

  state[18] = xx[0];

  state[19] = xx[0];

  state[20] = xx[0];

  state[21] = xx[0];

  state[22] = xx[0];

  state[23] = xx[1];

  state[24] = xx[0];

  state[25] = xx[0];

  state[26] = xx[0];

  state[27] = xx[0];

  state[28] = xx[0];

  state[29] = xx[0];

  state[30] = xx[0];

  state[31] = xx[0];

  state[32] = xx[0];

  state[33] = xx[0];

  state[34] = xx[0];

  state[35] = xx[0];

  state[36] = xx[0];

  state[37] = xx[0];

  state[38] = xx[0];

  state[39] = xx[0];

  state[40] = xx[0];

  state[41] = xx[0];

  state[42] = xx[0];

  state[43] = xx[0];

  state[44] = xx[0];

  state[45] = xx[0];

  state[46] = xx[1];

  state[47] = xx[0];

  state[48] = xx[0];

  state[49] = xx[0];

  state[50] = xx[0];

  state[51] = xx[0];

  state[52] = xx[0];

  state[53] = xx[0];

  state[54] = xx[0];

  state[55] = xx[0];

  state[56] = xx[0];

  state[57] = xx[1];

  state[58] = xx[0];

  state[59] = xx[0];

  state[60] = xx[0];

  state[61] = xx[0];

  state[62] = xx[0];

  state[63] = xx[0];

  state[64] = xx[0];

  state[65] = xx[0];

  state[66] = xx[0];

  state[67] = xx[0];

  state[68] = xx[1];

  state[69] = xx[0];

  state[70] = xx[0];

  state[71] = xx[0];

  state[72] = xx[0];

  state[73] = xx[0];

  state[74] = xx[0];

  state[75] = xx[0];

  state[76] = xx[0];

  state[77] = xx[0];

  state[78] = xx[0];

  state[79] = xx[1];

  state[80] = xx[0];

  state[81] = xx[0];

  state[82] = xx[0];

  state[83] = xx[0];

  state[84] = xx[0];

  state[85] = xx[0];

  state[86] = xx[0];

  state[87] = xx[0];

  state[88] = xx[0];

  state[89] = xx[0];

  state[90] = xx[1];

  state[91] = xx[0];

  state[92] = xx[0];

  state[93] = xx[0];

  state[94] = xx[0];

  state[95] = xx[0];

  state[96] = xx[0];

}



void PlatformAssem_f0ca4364_1_initializeTrackedAngleState(const void *mech,

  const double *rtdv, const double *motionData, double *state, void *neDiagMgr0)

{

  NeuDiagnosticManager *neDiagMgr = (NeuDiagnosticManager *) neDiagMgr0;

  (void) mech;

  (void) rtdv;

  (void) motionData;

  (void) state;

  (void) neDiagMgr;

}



void PlatformAssem_f0ca4364_1_computeDiscreteState(const void *mech, const

  double *rtdv, double *state)

{

  (void) mech;

  (void) rtdv;

  (void) state;

}



void PlatformAssem_f0ca4364_1_adjustPosition(const void *mech, const double

  *dofDeltas, double *state)

{

  double xx[42];

  (void) mech;

  xx[0] = state[16];

  xx[1] = state[17];

  xx[2] = state[18];

  xx[3] = state[19];

  xx[4] = dofDeltas[8];

  xx[5] = dofDeltas[9];

  xx[6] = dofDeltas[10];

  pm_math_quatDeriv(xx + 0, xx + 4, xx + 7);

  xx[0] = state[16] + xx[7];

  xx[1] = state[17] + xx[8];

  xx[2] = state[18] + xx[9];

  xx[3] = state[19] + xx[10];

  xx[4] = 1.0e-64;

  xx[5] = sqrt(xx[0] * xx[0] + xx[1] * xx[1] + xx[2] * xx[2] + xx[3] * xx[3]);

  if (xx[4] > xx[5])

    xx[5] = xx[4];

  xx[6] = state[23];

  xx[7] = state[24];

  xx[8] = state[25];

  xx[9] = state[26];

  xx[10] = dofDeltas[11];

  xx[11] = dofDeltas[12];

  xx[12] = dofDeltas[13];

  pm_math_quatDeriv(xx + 6, xx + 10, xx + 13);

  xx[6] = state[23] + xx[13];

  xx[7] = state[24] + xx[14];

  xx[8] = state[25] + xx[15];

  xx[9] = state[26] + xx[16];

  xx[10] = sqrt(xx[6] * xx[6] + xx[7] * xx[7] + xx[8] * xx[8] + xx[9] * xx[9]);

  if (xx[4] > xx[10])

    xx[10] = xx[4];

  xx[11] = state[46];

  xx[12] = state[47];

  xx[13] = state[48];

  xx[14] = state[49];

  xx[15] = dofDeltas[22];

  xx[16] = dofDeltas[23];

  xx[17] = dofDeltas[24];

  pm_math_quatDeriv(xx + 11, xx + 15, xx + 18);

  xx[11] = state[46] + xx[18];

  xx[12] = state[47] + xx[19];

  xx[13] = state[48] + xx[20];

  xx[14] = state[49] + xx[21];

  xx[15] = sqrt(xx[11] * xx[11] + xx[12] * xx[12] + xx[13] * xx[13] + xx[14] *

                xx[14]);

  if (xx[4] > xx[15])

    xx[15] = xx[4];

  xx[16] = state[57];

  xx[17] = state[58];

  xx[18] = state[59];

  xx[19] = state[60];

  xx[20] = dofDeltas[27];

  xx[21] = dofDeltas[28];

  xx[22] = dofDeltas[29];

  pm_math_quatDeriv(xx + 16, xx + 20, xx + 23);

  xx[16] = state[57] + xx[23];

  xx[17] = state[58] + xx[24];

  xx[18] = state[59] + xx[25];

  xx[19] = state[60] + xx[26];

  xx[20] = sqrt(xx[16] * xx[16] + xx[17] * xx[17] + xx[18] * xx[18] + xx[19] *

                xx[19]);

  if (xx[4] > xx[20])

    xx[20] = xx[4];

  xx[21] = state[68];

  xx[22] = state[69];

  xx[23] = state[70];

  xx[24] = state[71];

  xx[25] = dofDeltas[32];

  xx[26] = dofDeltas[33];

  xx[27] = dofDeltas[34];

  pm_math_quatDeriv(xx + 21, xx + 25, xx + 28);

  xx[21] = state[68] + xx[28];

  xx[22] = state[69] + xx[29];

  xx[23] = state[70] + xx[30];

  xx[24] = state[71] + xx[31];

  xx[25] = sqrt(xx[21] * xx[21] + xx[22] * xx[22] + xx[23] * xx[23] + xx[24] *

                xx[24]);

  if (xx[4] > xx[25])

    xx[25] = xx[4];

  xx[26] = state[79];

  xx[27] = state[80];

  xx[28] = state[81];

  xx[29] = state[82];

  xx[30] = dofDeltas[37];

  xx[31] = dofDeltas[38];

  xx[32] = dofDeltas[39];

  pm_math_quatDeriv(xx + 26, xx + 30, xx + 33);

  xx[26] = state[79] + xx[33];

  xx[27] = state[80] + xx[34];

  xx[28] = state[81] + xx[35];

  xx[29] = state[82] + xx[36];

  xx[30] = sqrt(xx[26] * xx[26] + xx[27] * xx[27] + xx[28] * xx[28] + xx[29] *

                xx[29]);

  if (xx[4] > xx[30])

    xx[30] = xx[4];

  xx[31] = state[90];

  xx[32] = state[91];

  xx[33] = state[92];

  xx[34] = state[93];

  xx[35] = dofDeltas[42];

  xx[36] = dofDeltas[43];

  xx[37] = dofDeltas[44];

  pm_math_quatDeriv(xx + 31, xx + 35, xx + 38);

  xx[31] = state[90] + xx[38];

  xx[32] = state[91] + xx[39];

  xx[33] = state[92] + xx[40];

  xx[34] = state[93] + xx[41];

  xx[35] = sqrt(xx[31] * xx[31] + xx[32] * xx[32] + xx[33] * xx[33] + xx[34] *

                xx[34]);

  if (xx[4] > xx[35])

    xx[35] = xx[4];

  state[0] = state[0] + dofDeltas[0];

  state[1] = state[1] + dofDeltas[1];

  state[2] = state[2] + dofDeltas[2];

  state[6] = state[6] + dofDeltas[3];

  state[7] = state[7] + dofDeltas[4];

  state[8] = state[8] + dofDeltas[5];

  state[12] = state[12] + dofDeltas[6];

  state[14] = state[14] + dofDeltas[7];

  state[16] = xx[0] / xx[5];

  state[17] = xx[1] / xx[5];

  state[18] = xx[2] / xx[5];

  state[19] = xx[3] / xx[5];

  state[23] = xx[6] / xx[10];

  state[24] = xx[7] / xx[10];

  state[25] = xx[8] / xx[10];

  state[26] = xx[9] / xx[10];

  state[30] = state[30] + dofDeltas[14];

  state[32] = state[32] + dofDeltas[15];

  state[34] = state[34] + dofDeltas[16];

  state[36] = state[36] + dofDeltas[17];

  state[38] = state[38] + dofDeltas[18];

  state[40] = state[40] + dofDeltas[19];

  state[42] = state[42] + dofDeltas[20];

  state[44] = state[44] + dofDeltas[21];

  state[46] = xx[11] / xx[15];

  state[47] = xx[12] / xx[15];

  state[48] = xx[13] / xx[15];

  state[49] = xx[14] / xx[15];

  state[53] = state[53] + dofDeltas[25];

  state[55] = state[55] + dofDeltas[26];

  state[57] = xx[16] / xx[20];

  state[58] = xx[17] / xx[20];

  state[59] = xx[18] / xx[20];

  state[60] = xx[19] / xx[20];

  state[64] = state[64] + dofDeltas[30];

  state[66] = state[66] + dofDeltas[31];

  state[68] = xx[21] / xx[25];

  state[69] = xx[22] / xx[25];

  state[70] = xx[23] / xx[25];

  state[71] = xx[24] / xx[25];

  state[75] = state[75] + dofDeltas[35];

  state[77] = state[77] + dofDeltas[36];

  state[79] = xx[26] / xx[30];

  state[80] = xx[27] / xx[30];

  state[81] = xx[28] / xx[30];

  state[82] = xx[29] / xx[30];

  state[86] = state[86] + dofDeltas[40];

  state[88] = state[88] + dofDeltas[41];

  state[90] = xx[31] / xx[35];

  state[91] = xx[32] / xx[35];

  state[92] = xx[33] / xx[35];

  state[93] = xx[34] / xx[35];

}



static void perturbState_0_0(double mag, double *state)

{

  state[0] = state[0] + mag;

}



static void perturbState_0_0v(double mag, double *state)

{

  state[0] = state[0] + mag;

  state[3] = state[3] - 0.875 * mag;

}



static void perturbState_0_1(double mag, double *state)

{

  state[1] = state[1] + mag;

}



static void perturbState_0_1v(double mag, double *state)

{

  state[1] = state[1] + mag;

  state[4] = state[4] - 0.875 * mag;

}



static void perturbState_0_2(double mag, double *state)

{

  state[2] = state[2] + mag;

}



static void perturbState_0_2v(double mag, double *state)

{

  state[2] = state[2] + mag;

  state[5] = state[5] - 0.875 * mag;

}



static void perturbState_1_0(double mag, double *state)

{

  state[6] = state[6] + mag;

}



static void perturbState_1_0v(double mag, double *state)

{

  state[6] = state[6] + mag;

  state[9] = state[9] - 0.875 * mag;

}



static void perturbState_1_1(double mag, double *state)

{

  state[7] = state[7] + mag;

}



static void perturbState_1_1v(double mag, double *state)

{

  state[7] = state[7] + mag;

  state[10] = state[10] - 0.875 * mag;

}



static void perturbState_1_2(double mag, double *state)

{

  state[8] = state[8] + mag;

}



static void perturbState_1_2v(double mag, double *state)

{

  state[8] = state[8] + mag;

  state[11] = state[11] - 0.875 * mag;

}



static void perturbState_2_0(double mag, double *state)

{

  state[12] = state[12] + mag;

}



static void perturbState_2_0v(double mag, double *state)

{

  state[12] = state[12] + mag;

  state[13] = state[13] - 0.875 * mag;

}



static void perturbState_3_0(double mag, double *state)

{

  state[14] = state[14] + mag;

}



static void perturbState_3_0v(double mag, double *state)

{

  state[14] = state[14] + mag;

  state[15] = state[15] - 0.875 * mag;

}



static void perturbState_4_0(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[0] = state[16];

  xx[1] = state[17];

  xx[2] = state[18];

  xx[3] = state[19];

  pm_math_quatCompose(xx + 6, xx + 0, xx + 10);

  state[16] = xx[10];

  state[17] = xx[11];

  state[18] = xx[12];

  state[19] = xx[13];

}



static void perturbState_4_0v(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[1] = state[16];

  xx[2] = state[17];

  xx[3] = state[18];

  xx[4] = state[19];

  pm_math_quatCompose(xx + 6, xx + 1, xx + 10);

  state[16] = xx[10];

  state[17] = xx[11];

  state[18] = xx[12];

  state[19] = xx[13];

  state[20] = state[20] + 1.2 * mag;

  state[21] = state[21] - xx[0];

  state[22] = state[22] + 0.9 * mag;

}



static void perturbState_5_0(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[0] = state[23];

  xx[1] = state[24];

  xx[2] = state[25];

  xx[3] = state[26];

  pm_math_quatCompose(xx + 6, xx + 0, xx + 10);

  state[23] = xx[10];

  state[24] = xx[11];

  state[25] = xx[12];

  state[26] = xx[13];

}



static void perturbState_5_0v(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[1] = state[23];

  xx[2] = state[24];

  xx[3] = state[25];

  xx[4] = state[26];

  pm_math_quatCompose(xx + 6, xx + 1, xx + 10);

  state[23] = xx[10];

  state[24] = xx[11];

  state[25] = xx[12];

  state[26] = xx[13];

  state[27] = state[27] + 1.2 * mag;

  state[28] = state[28] - xx[0];

  state[29] = state[29] + 0.9 * mag;

}



static void perturbState_6_0(double mag, double *state)

{

  state[30] = state[30] + mag;

}



static void perturbState_6_0v(double mag, double *state)

{

  state[30] = state[30] + mag;

  state[31] = state[31] - 0.875 * mag;

}



static void perturbState_7_0(double mag, double *state)

{

  state[32] = state[32] + mag;

}



static void perturbState_7_0v(double mag, double *state)

{

  state[32] = state[32] + mag;

  state[33] = state[33] - 0.875 * mag;

}



static void perturbState_8_0(double mag, double *state)

{

  state[34] = state[34] + mag;

}



static void perturbState_8_0v(double mag, double *state)

{

  state[34] = state[34] + mag;

  state[35] = state[35] - 0.875 * mag;

}



static void perturbState_9_0(double mag, double *state)

{

  state[36] = state[36] + mag;

}



static void perturbState_9_0v(double mag, double *state)

{

  state[36] = state[36] + mag;

  state[37] = state[37] - 0.875 * mag;

}



static void perturbState_10_0(double mag, double *state)

{

  state[38] = state[38] + mag;

}



static void perturbState_10_0v(double mag, double *state)

{

  state[38] = state[38] + mag;

  state[39] = state[39] - 0.875 * mag;

}



static void perturbState_11_0(double mag, double *state)

{

  state[40] = state[40] + mag;

}



static void perturbState_11_0v(double mag, double *state)

{

  state[40] = state[40] + mag;

  state[41] = state[41] - 0.875 * mag;

}



static void perturbState_12_0(double mag, double *state)

{

  state[42] = state[42] + mag;

}



static void perturbState_12_0v(double mag, double *state)

{

  state[42] = state[42] + mag;

  state[43] = state[43] - 0.875 * mag;

}



static void perturbState_13_0(double mag, double *state)

{

  state[44] = state[44] + mag;

}



static void perturbState_13_0v(double mag, double *state)

{

  state[44] = state[44] + mag;

  state[45] = state[45] - 0.875 * mag;

}



static void perturbState_14_0(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[0] = state[46];

  xx[1] = state[47];

  xx[2] = state[48];

  xx[3] = state[49];

  pm_math_quatCompose(xx + 6, xx + 0, xx + 10);

  state[46] = xx[10];

  state[47] = xx[11];

  state[48] = xx[12];

  state[49] = xx[13];

}



static void perturbState_14_0v(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[1] = state[46];

  xx[2] = state[47];

  xx[3] = state[48];

  xx[4] = state[49];

  pm_math_quatCompose(xx + 6, xx + 1, xx + 10);

  state[46] = xx[10];

  state[47] = xx[11];

  state[48] = xx[12];

  state[49] = xx[13];

  state[50] = state[50] + 1.2 * mag;

  state[51] = state[51] - xx[0];

  state[52] = state[52] + 0.9 * mag;

}



static void perturbState_15_0(double mag, double *state)

{

  state[53] = state[53] + mag;

}



static void perturbState_15_0v(double mag, double *state)

{

  state[53] = state[53] + mag;

  state[54] = state[54] - 0.875 * mag;

}



static void perturbState_16_0(double mag, double *state)

{

  state[55] = state[55] + mag;

}



static void perturbState_16_0v(double mag, double *state)

{

  state[55] = state[55] + mag;

  state[56] = state[56] - 0.875 * mag;

}



static void perturbState_17_0(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[0] = state[57];

  xx[1] = state[58];

  xx[2] = state[59];

  xx[3] = state[60];

  pm_math_quatCompose(xx + 6, xx + 0, xx + 10);

  state[57] = xx[10];

  state[58] = xx[11];

  state[59] = xx[12];

  state[60] = xx[13];

}



static void perturbState_17_0v(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[1] = state[57];

  xx[2] = state[58];

  xx[3] = state[59];

  xx[4] = state[60];

  pm_math_quatCompose(xx + 6, xx + 1, xx + 10);

  state[57] = xx[10];

  state[58] = xx[11];

  state[59] = xx[12];

  state[60] = xx[13];

  state[61] = state[61] + 1.2 * mag;

  state[62] = state[62] - xx[0];

  state[63] = state[63] + 0.9 * mag;

}



static void perturbState_18_0(double mag, double *state)

{

  state[64] = state[64] + mag;

}



static void perturbState_18_0v(double mag, double *state)

{

  state[64] = state[64] + mag;

  state[65] = state[65] - 0.875 * mag;

}



static void perturbState_19_0(double mag, double *state)

{

  state[66] = state[66] + mag;

}



static void perturbState_19_0v(double mag, double *state)

{

  state[66] = state[66] + mag;

  state[67] = state[67] - 0.875 * mag;

}



static void perturbState_20_0(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[0] = state[68];

  xx[1] = state[69];

  xx[2] = state[70];

  xx[3] = state[71];

  pm_math_quatCompose(xx + 6, xx + 0, xx + 10);

  state[68] = xx[10];

  state[69] = xx[11];

  state[70] = xx[12];

  state[71] = xx[13];

}



static void perturbState_20_0v(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[1] = state[68];

  xx[2] = state[69];

  xx[3] = state[70];

  xx[4] = state[71];

  pm_math_quatCompose(xx + 6, xx + 1, xx + 10);

  state[68] = xx[10];

  state[69] = xx[11];

  state[70] = xx[12];

  state[71] = xx[13];

  state[72] = state[72] + 1.2 * mag;

  state[73] = state[73] - xx[0];

  state[74] = state[74] + 0.9 * mag;

}



static void perturbState_21_0(double mag, double *state)

{

  state[75] = state[75] + mag;

}



static void perturbState_21_0v(double mag, double *state)

{

  state[75] = state[75] + mag;

  state[76] = state[76] - 0.875 * mag;

}



static void perturbState_22_0(double mag, double *state)

{

  state[77] = state[77] + mag;

}



static void perturbState_22_0v(double mag, double *state)

{

  state[77] = state[77] + mag;

  state[78] = state[78] - 0.875 * mag;

}



static void perturbState_23_0(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[0] = state[79];

  xx[1] = state[80];

  xx[2] = state[81];

  xx[3] = state[82];

  pm_math_quatCompose(xx + 6, xx + 0, xx + 10);

  state[79] = xx[10];

  state[80] = xx[11];

  state[81] = xx[12];

  state[82] = xx[13];

}



static void perturbState_23_0v(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[1] = state[79];

  xx[2] = state[80];

  xx[3] = state[81];

  xx[4] = state[82];

  pm_math_quatCompose(xx + 6, xx + 1, xx + 10);

  state[79] = xx[10];

  state[80] = xx[11];

  state[81] = xx[12];

  state[82] = xx[13];

  state[83] = state[83] + 1.2 * mag;

  state[84] = state[84] - xx[0];

  state[85] = state[85] + 0.9 * mag;

}



static void perturbState_24_0(double mag, double *state)

{

  state[86] = state[86] + mag;

}



static void perturbState_24_0v(double mag, double *state)

{

  state[86] = state[86] + mag;

  state[87] = state[87] - 0.875 * mag;

}



static void perturbState_25_0(double mag, double *state)

{

  state[88] = state[88] + mag;

}



static void perturbState_25_0v(double mag, double *state)

{

  state[88] = state[88] + mag;

  state[89] = state[89] - 0.875 * mag;

}



static void perturbState_26_0(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[0] = state[90];

  xx[1] = state[91];

  xx[2] = state[92];

  xx[3] = state[93];

  pm_math_quatCompose(xx + 6, xx + 0, xx + 10);

  state[90] = xx[10];

  state[91] = xx[11];

  state[92] = xx[12];

  state[93] = xx[13];

}



static void perturbState_26_0v(double mag, double *state)

{

  double xx[14];

  xx[0] = 0.5 * mag;

  xx[1] = fabs(mag);

  xx[2] = 1.0 / (xx[1] - floor(xx[1]) + 1.0e-9);

  xx[1] = sin(xx[2]);

  xx[3] = cos(xx[2]);

  xx[4] = sin(2.0 * xx[2]);

  xx[2] = sqrt(xx[1] * xx[1] + xx[3] * xx[3] + xx[4] * xx[4]);

  xx[5] = sin(xx[0]);

  xx[6] = cos(xx[0]);

  xx[7] = xx[1] / xx[2] * xx[5];

  xx[8] = xx[3] / xx[2] * xx[5];

  xx[9] = xx[4] / xx[2] * xx[5];

  xx[1] = state[90];

  xx[2] = state[91];

  xx[3] = state[92];

  xx[4] = state[93];

  pm_math_quatCompose(xx + 6, xx + 1, xx + 10);

  state[90] = xx[10];

  state[91] = xx[11];

  state[92] = xx[12];

  state[93] = xx[13];

  state[94] = state[94] + 1.2 * mag;

  state[95] = state[95] - xx[0];

  state[96] = state[96] + 0.9 * mag;

}



void PlatformAssem_f0ca4364_1_perturbState(const void *mech, size_t stageIdx,

  size_t primIdx, double mag, boolean_T doPerturbVelocity, double *state)

{

  (void) mech;

  (void) stageIdx;

  (void) primIdx;

  (void) mag;

  (void) doPerturbVelocity;

  (void) state;

  switch ((stageIdx * 6 + primIdx) * 2 + (doPerturbVelocity ? 1 : 0))

  {

   case 0:

    perturbState_0_0(mag, state);

    break;



   case 1:

    perturbState_0_0v(mag, state);

    break;



   case 2:

    perturbState_0_1(mag, state);

    break;



   case 3:

    perturbState_0_1v(mag, state);

    break;



   case 4:

    perturbState_0_2(mag, state);

    break;



   case 5:

    perturbState_0_2v(mag, state);

    break;



   case 12:

    perturbState_1_0(mag, state);

    break;



   case 13:

    perturbState_1_0v(mag, state);

    break;



   case 14:

    perturbState_1_1(mag, state);

    break;



   case 15:

    perturbState_1_1v(mag, state);

    break;



   case 16:

    perturbState_1_2(mag, state);

    break;



   case 17:

    perturbState_1_2v(mag, state);

    break;



   case 24:

    perturbState_2_0(mag, state);

    break;



   case 25:

    perturbState_2_0v(mag, state);

    break;



   case 36:

    perturbState_3_0(mag, state);

    break;



   case 37:

    perturbState_3_0v(mag, state);

    break;



   case 48:

    perturbState_4_0(mag, state);

    break;



   case 49:

    perturbState_4_0v(mag, state);

    break;



   case 60:

    perturbState_5_0(mag, state);

    break;



   case 61:

    perturbState_5_0v(mag, state);

    break;



   case 72:

    perturbState_6_0(mag, state);

    break;



   case 73:

    perturbState_6_0v(mag, state);

    break;



   case 84:

    perturbState_7_0(mag, state);

    break;



   case 85:

    perturbState_7_0v(mag, state);

    break;



   case 96:

    perturbState_8_0(mag, state);

    break;



   case 97:

    perturbState_8_0v(mag, state);

    break;



   case 108:

    perturbState_9_0(mag, state);

    break;



   case 109:

    perturbState_9_0v(mag, state);

    break;



   case 120:

    perturbState_10_0(mag, state);

    break;



   case 121:

    perturbState_10_0v(mag, state);

    break;



   case 132:

    perturbState_11_0(mag, state);

    break;



   case 133:

    perturbState_11_0v(mag, state);

    break;



   case 144:

    perturbState_12_0(mag, state);

    break;



   case 145:

    perturbState_12_0v(mag, state);

    break;



   case 156:

    perturbState_13_0(mag, state);

    break;



   case 157:

    perturbState_13_0v(mag, state);

    break;



   case 168:

    perturbState_14_0(mag, state);

    break;



   case 169:

    perturbState_14_0v(mag, state);

    break;



   case 180:

    perturbState_15_0(mag, state);

    break;



   case 181:

    perturbState_15_0v(mag, state);

    break;



   case 192:

    perturbState_16_0(mag, state);

    break;



   case 193:

    perturbState_16_0v(mag, state);

    break;



   case 204:

    perturbState_17_0(mag, state);

    break;



   case 205:

    perturbState_17_0v(mag, state);

    break;



   case 216:

    perturbState_18_0(mag, state);

    break;



   case 217:

    perturbState_18_0v(mag, state);

    break;



   case 228:

    perturbState_19_0(mag, state);

    break;



   case 229:

    perturbState_19_0v(mag, state);

    break;



   case 240:

    perturbState_20_0(mag, state);

    break;



   case 241:

    perturbState_20_0v(mag, state);

    break;



   case 252:

    perturbState_21_0(mag, state);

    break;



   case 253:

    perturbState_21_0v(mag, state);

    break;



   case 264:

    perturbState_22_0(mag, state);

    break;



   case 265:

    perturbState_22_0v(mag, state);

    break;



   case 276:

    perturbState_23_0(mag, state);

    break;



   case 277:

    perturbState_23_0v(mag, state);

    break;



   case 288:

    perturbState_24_0(mag, state);

    break;



   case 289:

    perturbState_24_0v(mag, state);

    break;



   case 300:

    perturbState_25_0(mag, state);

    break;



   case 301:

    perturbState_25_0v(mag, state);

    break;



   case 312:

    perturbState_26_0(mag, state);

    break;



   case 313:

    perturbState_26_0v(mag, state);

    break;

  }

}



void PlatformAssem_f0ca4364_1_computeDofBlendMatrix(const void *mech, size_t

  stageIdx, size_t primIdx, const double *state, int partialType, double *matrix)

{

  (void) mech;

  (void) stageIdx;

  (void) primIdx;

  (void) state;

  (void) partialType;

  (void) matrix;

  switch ((stageIdx * 6 + primIdx))

  {

  }

}



void PlatformAssem_f0ca4364_1_projectPartiallyTargetedPos(const void *mech,

  size_t stageIdx, size_t primIdx, const double *origState, int partialType,

  double *state)

{

  (void) mech;

  (void) stageIdx;

  (void) primIdx;

  (void) origState;

  (void) partialType;

  (void) state;

  switch ((stageIdx * 6 + primIdx))

  {

  }

}



void PlatformAssem_f0ca4364_1_propagateMotion(const void *mech, const double

  *rtdv, const double *state, double *motionData)

{

  double xx[691];

  (void) mech;

  (void) rtdv;

  xx[0] = 0.0;

  xx[1] = 0.7071067811865476;

  xx[2] = - xx[1];

  xx[3] = 0.9982060081755033;

  xx[4] = 0.5;

  xx[5] = xx[4] * state[6];

  xx[6] = cos(xx[5]);

  xx[7] = 7.822272946646824e-7;

  xx[8] = sin(xx[5]);

  xx[5] = 0.05987290897428056;

  xx[9] = 3.559887592452546e-6;

  xx[10] = - (xx[3] * xx[6] + xx[7] * xx[8]);

  xx[11] = xx[7] * xx[6] - xx[3] * xx[8];

  xx[12] = - (xx[5] * xx[6] + xx[9] * xx[8]);

  xx[13] = xx[9] * xx[6] - xx[5] * xx[8];

  xx[3] = xx[4] * state[7];

  xx[5] = 7.200670813652432e-6;

  xx[6] = sin(xx[3]);

  xx[7] = 0.9999999999734306;

  xx[8] = 1.135366319023148e-6;

  xx[14] = cos(xx[3]);

  xx[15] = - (xx[5] * xx[6]);

  xx[16] = xx[7] * xx[6];

  xx[17] = xx[8] * xx[6];

  pm_math_quatCompose(xx + 10, xx + 14, xx + 18);

  xx[3] = xx[4] * state[8];

  xx[6] = 0.1195309949245745;

  xx[9] = sin(xx[3]);

  xx[10] = 1.987929622149476e-6;

  xx[11] = 0.9928304695406913;

  xx[12] = cos(xx[3]);

  xx[13] = - (xx[6] * xx[9]);

  xx[14] = - (xx[10] * xx[9]);

  xx[15] = xx[11] * xx[9];

  pm_math_quatCompose(xx + 18, xx + 12, xx + 22);

  xx[16] = 2.651074505488933e-6;

  xx[17] = - 0.01576192360860613;

  xx[18] = 1.370770141144085e-6;

  pm_math_quatXform(xx + 22, xx + 16, xx + 19);

  xx[3] = 0.3895853754265615;

  xx[9] = xx[4] * state[12];

  xx[26] = cos(xx[9]);

  xx[27] = 0.389581900177037;

  xx[28] = sin(xx[9]);

  xx[9] = xx[3] * xx[26] - xx[27] * xx[28];

  xx[29] = 0.5901074779979933;

  xx[30] = 0.5901036711621462;

  xx[31] = xx[29] * xx[26] + xx[30] * xx[28];

  xx[32] = - xx[31];

  xx[33] = xx[30] * xx[26] - xx[29] * xx[28];

  xx[29] = xx[27] * xx[26] + xx[3] * xx[28];

  xx[3] = - xx[29];

  xx[26] = 1.587500000000011e-3;

  xx[27] = xx[33] * xx[26];

  xx[34] = xx[32];

  xx[35] = xx[33];

  xx[36] = xx[3];

  xx[28] = 0.02520954632904373;

  xx[30] = xx[28] * xx[29] + xx[26] * xx[31];

  xx[37] = xx[33] * xx[28];

  xx[38] = xx[27];

  xx[39] = xx[30];

  xx[40] = xx[37];

  pm_math_cross3(xx + 34, xx + 38, xx + 41);

  xx[34] = 2.0;

  xx[35] = 0.1564468326892218 - ((xx[9] * xx[27] + xx[41]) * xx[34] - xx[28]);

  xx[27] = 0.02992367610368172 - (xx[9] * xx[30] + xx[42]) * xx[34];

  xx[30] = 0.01163189793971064 + xx[26] + xx[34] * (xx[43] + xx[9] * xx[37]);

  xx[36] = - xx[30];

  xx[37] = xx[4] * state[14];

  xx[38] = cos(xx[37]);

  xx[39] = sin(xx[37]);

  xx[37] = 5.376764528053357e-12;

  xx[40] = 7.748428954013064e-12;

  xx[41] = xx[37] * xx[38] + xx[40] * xx[39];

  xx[42] = 0.03194045367095624 - (xx[34] * xx[41] * xx[39] - xx[40]);

  xx[43] = xx[34] * xx[41] * xx[38] - xx[37];

  xx[41] = - xx[43];

  xx[44] = 4.0000000045273e-3;

  xx[45] = xx[26] - (xx[44] - (xx[38] * xx[44] * xx[38] + xx[44] * xx[39] * xx

    [39]) * xx[34]);

  xx[44] = 3.980251324392935e-7;

  xx[46] = 0.999999999999921;

  xx[47] = xx[44] * state[19] - xx[46] * state[16];

  xx[48] = - (xx[44] * state[18] + xx[46] * state[17]);

  xx[49] = - (xx[46] * state[18] - xx[44] * state[17]);

  xx[50] = - (xx[44] * state[16] + xx[46] * state[19]);

  xx[51] = 3.641162862673871e-8;

  xx[52] = 0.04575000000717538;

  xx[53] = - 2.926046524752066e-7;

  pm_math_quatXform(xx + 47, xx + 51, xx + 54);

  xx[57] = 3.980251340548381e-7;

  xx[58] = xx[46] * state[26] - xx[57] * state[23];

  xx[59] = xx[46] * state[25] - xx[57] * state[24];

  xx[60] = xx[57] * state[25] + xx[46] * state[24];

  xx[61] = - xx[60];

  xx[62] = xx[57] * state[26] + xx[46] * state[23];

  xx[57] = - xx[62];

  xx[63] = xx[58];

  xx[64] = xx[59];

  xx[65] = xx[61];

  xx[66] = xx[57];

  xx[67] = 7.599121945184391e-12;

  xx[68] = - 5.036130209737022e-12;

  xx[69] = 5.192027881355888e-12;

  pm_math_quatXform(xx + 63, xx + 67, xx + 70);

  xx[73] = 3.641924106626229e-8 + xx[70];

  xx[74] = 0.04574999999998041 + xx[71];

  xx[70] = 2.92603149291605e-7 + xx[72];

  xx[71] = xx[4] * state[30];

  xx[72] = cos(xx[71]);

  xx[75] = sin(xx[71]);

  xx[71] = 0.02540000000000185;

  xx[76] = xx[71] * xx[75];

  xx[77] = 6.817225262079063e-12 + xx[71] - xx[34] * xx[76] * xx[75];

  xx[78] = - xx[77];

  xx[79] = 5.61723311615081e-12 + xx[34] * xx[72] * xx[76];

  xx[76] = - xx[79];

  xx[80] = 0.152426400001803;

  xx[81] = xx[4] * state[32];

  xx[82] = cos(xx[81]);

  xx[83] = sin(xx[81]);

  xx[81] = 2.191920996097441e-12;

  xx[84] = xx[81] * xx[83];

  xx[85] = 3.368449963403463e-13;

  xx[86] = xx[85] * xx[83];

  xx[87] = 0.02539999999999815 + xx[34] * (xx[82] * xx[84] + xx[86] * xx[83]) -

    xx[85];

  xx[88] = - xx[87];

  xx[89] = xx[81] - (xx[84] * xx[83] - xx[82] * xx[86]) * xx[34];

  xx[84] = - xx[89];

  xx[86] = - 0.1524264000010511;

  xx[90] = 0.6123724356957949;

  xx[91] = xx[4] * state[34];

  xx[92] = sin(xx[91]);

  xx[93] = xx[90] * xx[92];

  xx[94] = cos(xx[91]);

  xx[91] = xx[90] * xx[94];

  xx[95] = xx[93] - xx[91];

  xx[96] = 0.3535533905932732;

  xx[97] = xx[96] * xx[94];

  xx[94] = xx[96] * xx[92];

  xx[92] = xx[97] + xx[94];

  xx[98] = - xx[92];

  xx[99] = xx[94] - xx[97];

  xx[94] = xx[93] + xx[91];

  xx[91] = - xx[94];

  xx[100] = xx[95];

  xx[101] = xx[98];

  xx[102] = xx[99];

  xx[103] = xx[91];

  xx[93] = 1.121202762681406e-11;

  xx[97] = 6.145027516349377e-13;

  xx[104] = - xx[93];

  xx[105] = - xx[97];

  xx[106] = - 3.999999999522439e-3;

  pm_math_quatXform(xx + 100, xx + 104, xx + 107);

  xx[104] = 0.1412410329922704 - xx[107];

  xx[105] = - xx[108];

  xx[106] = 0.05221615474387575 - xx[109];

  xx[107] = 0.3535533905932758;

  xx[109] = xx[4] * state[36];

  xx[110] = cos(xx[109]);

  xx[111] = xx[107] * xx[110];

  xx[112] = sin(xx[109]);

  xx[109] = xx[107] * xx[112];

  xx[113] = xx[111] + xx[109];

  xx[114] = - xx[113];

  xx[115] = 0.6123724356957934;

  xx[116] = xx[115] * xx[112];

  xx[112] = xx[115] * xx[110];

  xx[110] = xx[116] - xx[112];

  xx[117] = xx[112] + xx[116];

  xx[112] = - xx[117];

  xx[116] = xx[109] - xx[111];

  xx[118] = xx[114];

  xx[119] = xx[110];

  xx[120] = xx[112];

  xx[121] = xx[116];

  xx[109] = 3.881762117297072e-12;

  xx[111] = 3.80025733104361e-12;

  xx[122] = xx[109];

  xx[123] = - xx[111];

  xx[124] = 3.999999998874377e-3;

  pm_math_quatXform(xx + 118, xx + 122, xx + 125);

  xx[122] = 0.1412410329922711 + xx[125];

  xx[123] = - xx[122];

  xx[124] = - xx[126];

  xx[125] = 0.05221615474387407 - xx[127];

  xx[127] = xx[4] * state[38];

  xx[128] = cos(xx[127]);

  xx[129] = xx[107] * xx[128];

  xx[130] = sin(xx[127]);

  xx[127] = xx[107] * xx[130];

  xx[107] = xx[129] + xx[127];

  xx[131] = xx[115] * xx[128];

  xx[128] = xx[115] * xx[130];

  xx[115] = xx[131] - xx[128];

  xx[130] = xx[131] + xx[128];

  xx[128] = xx[129] - xx[127];

  xx[131] = xx[107];

  xx[132] = xx[115];

  xx[133] = xx[130];

  xx[134] = xx[128];

  xx[127] = 5.998698970888227e-12;

  xx[129] = 6.30935626036444e-12;

  xx[135] = - xx[127];

  xx[136] = - xx[129];

  xx[137] = 4.000000001735564e-3;

  pm_math_quatXform(xx + 131, xx + 135, xx + 138);

  xx[135] = 0.1158410329922713 + xx[138];

  xx[136] = - xx[135];

  xx[137] = - xx[139];

  xx[138] = 0.09621024525612379 - xx[140];

  xx[140] = xx[4] * state[40];

  xx[141] = sin(xx[140]);

  xx[142] = xx[90] * xx[141];

  xx[143] = cos(xx[140]);

  xx[140] = xx[90] * xx[143];

  xx[90] = xx[142] - xx[140];

  xx[144] = xx[96] * xx[143];

  xx[143] = xx[96] * xx[141];

  xx[96] = xx[144] + xx[143];

  xx[141] = - xx[96];

  xx[145] = xx[143] - xx[144];

  xx[143] = xx[142] + xx[140];

  xx[140] = - xx[143];

  xx[146] = xx[90];

  xx[147] = xx[141];

  xx[148] = xx[145];

  xx[149] = xx[140];

  xx[142] = 7.483145982728478e-12;

  xx[144] = 5.088251355846174e-12;

  xx[150] = - xx[142];

  xx[151] = xx[144];

  xx[152] = - 4.00000000521855e-3;

  pm_math_quatXform(xx + 146, xx + 150, xx + 153);

  xx[150] = 0.1158410329922703 - xx[153];

  xx[151] = - xx[154];

  xx[152] = 0.09621024525612519 - xx[155];

  xx[153] = 0.04233709306330295;

  xx[155] = xx[4] * state[42];

  xx[156] = cos(xx[155]);

  xx[157] = 0.04233598682685397;

  xx[158] = sin(xx[155]);

  xx[155] = xx[153] * xx[156] + xx[157] * xx[158];

  xx[159] = 0.7058357201813958;

  xx[160] = 0.7058407546227096;

  xx[161] = xx[159] * xx[158] - xx[160] * xx[156];

  xx[162] = xx[159] * xx[156] + xx[160] * xx[158];

  xx[163] = xx[153] * xx[158] - xx[157] * xx[156];

  xx[156] = 1.5875e-3;

  xx[158] = xx[156] * xx[162];

  xx[164] = xx[161] * xx[156] - xx[163] * xx[28];

  xx[165] = xx[28] * xx[162];

  xx[166] = - xx[158];

  xx[167] = xx[164];

  xx[168] = xx[165];

  pm_math_cross3(xx + 161, xx + 166, xx + 169);

  xx[166] = 0.06820673750794114 + (xx[169] - xx[158] * xx[155]) * xx[34] - xx[28];

  xx[158] = - xx[166];

  xx[167] = 0.02992188481855372 - (xx[155] * xx[164] + xx[170]) * xx[34];

  xx[164] = 0.1412955924490354 - (xx[34] * (xx[171] + xx[165] * xx[155]) - xx

    [156]);

  xx[165] = xx[4] * state[44];

  xx[168] = cos(xx[165]);

  xx[169] = sin(xx[165]);

  xx[165] = 0.0319404536709563;

  xx[170] = 3.107391981487723e-12;

  xx[171] = 9.83617579279345e-12;

  xx[172] = xx[170] * xx[169] - xx[171] * xx[168];

  xx[173] = xx[170] - xx[34] * xx[172] * xx[169];

  xx[174] = xx[165] - xx[173];

  xx[175] = xx[171] + xx[34] * xx[172] * xx[168];

  xx[172] = 7.175000002356807e-3;

  xx[176] = (xx[168] * xx[172] * xx[168] + xx[172] * xx[169] * xx[169]) * xx[34]

    - xx[172];

  xx[172] = xx[26] - xx[176];

  xx[177] = xx[44] * state[49] - xx[46] * state[46];

  xx[178] = xx[44] * state[48] + xx[46] * state[47];

  xx[179] = - xx[178];

  xx[180] = xx[46] * state[48] - xx[44] * state[47];

  xx[181] = - xx[180];

  xx[182] = xx[44] * state[46] + xx[46] * state[49];

  xx[183] = - xx[182];

  xx[184] = xx[177];

  xx[185] = xx[179];

  xx[186] = xx[181];

  xx[187] = xx[183];

  pm_math_quatXform(xx + 184, xx + 51, xx + 188);

  xx[191] = xx[4] * state[53];

  xx[192] = cos(xx[191]);

  xx[193] = sin(xx[191]);

  xx[191] = xx[153] * xx[192] + xx[157] * xx[193];

  xx[194] = xx[159] * xx[193] - xx[160] * xx[192];

  xx[195] = xx[159] * xx[192] + xx[160] * xx[193];

  xx[159] = xx[153] * xx[193] - xx[157] * xx[192];

  xx[196] = xx[194];

  xx[197] = xx[195];

  xx[198] = xx[159];

  xx[153] = xx[156] * xx[195];

  xx[157] = 0.02520954632904374;

  xx[160] = xx[194] * xx[156] - xx[159] * xx[157];

  xx[192] = xx[157] * xx[195];

  xx[199] = - xx[153];

  xx[200] = xx[160];

  xx[201] = xx[192];

  pm_math_cross3(xx + 196, xx + 199, xx + 202);

  xx[193] = 0.03266483819494233 - ((xx[202] - xx[153] * xx[191]) * xx[34] - xx

    [157]);

  xx[153] = 0.02992259737327991 - (xx[191] * xx[160] + xx[203]) * xx[34];

  xx[160] = 0.1534399415345039 - (xx[34] * (xx[204] + xx[192] * xx[191]) - xx

    [156]);

  xx[156] = xx[4] * state[55];

  xx[192] = cos(xx[156]);

  xx[196] = sin(xx[156]);

  xx[156] = 0.03194045367095631;

  xx[197] = 9.27756931389703e-12;

  xx[198] = 5.443558296964576e-12;

  xx[199] = xx[198] * xx[192] - xx[197] * xx[196];

  xx[200] = xx[197] + xx[34] * xx[199] * xx[196];

  xx[201] = xx[156] + xx[200];

  xx[202] = xx[198] - xx[34] * xx[199] * xx[192];

  xx[199] = - xx[202];

  xx[203] = 7.174999998974562e-3;

  xx[204] = (xx[192] * xx[203] * xx[192] + xx[203] * xx[196] * xx[196]) * xx[34]

    - xx[203];

  xx[203] = xx[26] - xx[204];

  xx[205] = xx[44] * state[60] - xx[46] * state[57];

  xx[206] = xx[44] * state[59] + xx[46] * state[58];

  xx[207] = - xx[206];

  xx[208] = xx[46] * state[59] - xx[44] * state[58];

  xx[209] = - xx[208];

  xx[210] = xx[44] * state[57] + xx[46] * state[60];

  xx[211] = - xx[210];

  xx[212] = xx[205];

  xx[213] = xx[207];

  xx[214] = xx[209];

  xx[215] = xx[211];

  pm_math_quatXform(xx + 212, xx + 51, xx + 216);

  xx[219] = 0.389585375426561;

  xx[220] = xx[4] * state[64];

  xx[221] = cos(xx[220]);

  xx[222] = 0.3895819001770367;

  xx[223] = sin(xx[220]);

  xx[220] = xx[219] * xx[221] - xx[222] * xx[223];

  xx[224] = 0.5901074779979936;

  xx[225] = 0.5901036711621467;

  xx[226] = xx[224] * xx[221] + xx[225] * xx[223];

  xx[227] = - xx[226];

  xx[228] = xx[225] * xx[221] - xx[224] * xx[223];

  xx[224] = xx[222] * xx[221] + xx[219] * xx[223];

  xx[219] = - xx[224];

  xx[221] = xx[228] * xx[26];

  xx[229] = xx[227];

  xx[230] = xx[228];

  xx[231] = xx[219];

  xx[222] = xx[28] * xx[224] + xx[26] * xx[226];

  xx[223] = xx[228] * xx[28];

  pm_math_cross3(xx + 229, xx + 221, xx + 232);

  xx[225] = 0.1165527193553521 - ((xx[220] * xx[221] + xx[232]) * xx[34] - xx[28]);

  xx[221] = 0.02992349485130436 - (xx[220] * xx[222] + xx[233]) * xx[34];

  xx[222] = 0.1050044054848736 + xx[26] + xx[34] * (xx[234] + xx[220] * xx[223]);

  xx[223] = - xx[222];

  xx[229] = xx[4] * state[66];

  xx[230] = cos(xx[229]);

  xx[231] = sin(xx[229]);

  xx[229] = 0.03194045367095626;

  xx[232] = 1.024070757638107e-11;

  xx[233] = 6.924287580811761e-12;

  xx[234] = xx[233] * xx[230] + xx[232] * xx[231];

  xx[235] = xx[232] - xx[34] * xx[234] * xx[231];

  xx[236] = xx[229] - xx[235];

  xx[237] = xx[233] - xx[34] * xx[234] * xx[230];

  xx[234] = - xx[237];

  xx[238] = 4.000000007367204e-3;

  xx[239] = xx[238] - (xx[230] * xx[238] * xx[230] + xx[238] * xx[231] * xx[231])

    * xx[34];

  xx[238] = xx[26] - xx[239];

  xx[240] = xx[44] * state[71] - xx[46] * state[68];

  xx[241] = xx[44] * state[70] + xx[46] * state[69];

  xx[242] = - xx[241];

  xx[243] = xx[46] * state[70] - xx[44] * state[69];

  xx[244] = - xx[243];

  xx[245] = xx[44] * state[68] + xx[46] * state[71];

  xx[246] = - xx[245];

  xx[247] = xx[240];

  xx[248] = xx[242];

  xx[249] = xx[244];

  xx[250] = xx[246];

  pm_math_quatXform(xx + 247, xx + 51, xx + 251);

  xx[254] = 0.3162553791961485;

  xx[255] = xx[4] * state[75];

  xx[256] = cos(xx[255]);

  xx[257] = 0.3162538200043588;

  xx[258] = sin(xx[255]);

  xx[255] = xx[254] * xx[256] - xx[257] * xx[258];

  xx[259] = 0.6324445710612965;

  xx[260] = 0.6324396579890005;

  xx[261] = xx[259] * xx[256] + xx[260] * xx[258];

  xx[262] = xx[259] * xx[258] - xx[260] * xx[256];

  xx[259] = xx[257] * xx[256] + xx[254] * xx[258];

  xx[254] = - xx[259];

  xx[256] = xx[262] * xx[26];

  xx[263] = xx[261];

  xx[264] = xx[262];

  xx[265] = xx[254];

  xx[257] = xx[28] * xx[259] - xx[26] * xx[261];

  xx[258] = xx[262] * xx[28];

  pm_math_cross3(xx + 263, xx + 256, xx + 266);

  xx[260] = 0.08825748853214695 + (xx[255] * xx[256] + xx[266]) * xx[34] - xx[28];

  xx[256] = - xx[260];

  xx[263] = 0.02992204813763048 - (xx[255] * xx[257] + xx[267]) * xx[34];

  xx[257] = 0.1297164406712666 + xx[26] + xx[34] * (xx[268] + xx[255] * xx[258]);

  xx[258] = - xx[257];

  xx[264] = xx[4] * state[77];

  xx[265] = cos(xx[264]);

  xx[266] = sin(xx[264]);

  xx[264] = 5.157931604049537e-12;

  xx[267] = 9.862118968695376e-13;

  xx[268] = xx[264] * xx[266] - xx[267] * xx[265];

  xx[269] = xx[264] - xx[34] * xx[268] * xx[266];

  xx[270] = xx[229] - xx[269];

  xx[271] = xx[267] + xx[34] * xx[268] * xx[265];

  xx[268] = 3.99999999470772e-3;

  xx[272] = xx[268] - (xx[265] * xx[268] * xx[265] + xx[268] * xx[266] * xx[266])

    * xx[34];

  xx[268] = xx[26] - xx[272];

  xx[273] = xx[44] * state[82] - xx[46] * state[79];

  xx[274] = xx[44] * state[81] + xx[46] * state[80];

  xx[275] = - xx[274];

  xx[276] = xx[46] * state[81] - xx[44] * state[80];

  xx[277] = - xx[276];

  xx[278] = xx[44] * state[79] + xx[46] * state[82];

  xx[279] = - xx[278];

  xx[280] = xx[273];

  xx[281] = xx[275];

  xx[282] = xx[277];

  xx[283] = xx[279];

  pm_math_quatXform(xx + 280, xx + 51, xx + 284);

  xx[287] = 0.3162538200043575;

  xx[288] = xx[4] * state[86];

  xx[289] = sin(xx[288]);

  xx[290] = 0.3162553791961478;

  xx[291] = cos(xx[288]);

  xx[288] = xx[287] * xx[289] - xx[290] * xx[291];

  xx[292] = 0.6324445710612973;

  xx[293] = 0.6324396579890008;

  xx[294] = xx[292] * xx[291] + xx[293] * xx[289];

  xx[295] = - xx[294];

  xx[296] = xx[293] * xx[291] - xx[292] * xx[289];

  xx[292] = xx[287] * xx[291] + xx[290] * xx[289];

  xx[287] = 1.587499999999983e-3;

  xx[289] = xx[296] * xx[287];

  xx[297] = xx[295];

  xx[298] = xx[296];

  xx[299] = xx[292];

  xx[290] = xx[287] * xx[294] - xx[28] * xx[292];

  xx[291] = xx[296] * xx[28];

  pm_math_cross3(xx + 297, xx + 289, xx + 300);

  xx[293] = 0.1492477869940503 + (xx[288] * xx[289] + xx[300]) * xx[34] - xx[28];

  xx[289] = - xx[293];

  xx[297] = 0.02992151662180351 - (xx[288] * xx[290] + xx[301]) * xx[34];

  xx[290] = 0.04838166497694621 + xx[287] + xx[34] * (xx[302] + xx[288] * xx[291]);

  xx[287] = - xx[290];

  xx[291] = xx[4] * state[88];

  xx[4] = cos(xx[291]);

  xx[298] = sin(xx[291]);

  xx[291] = 0.03194045367095628;

  xx[299] = 1.600627075326599e-13;

  xx[300] = 8.497959654019115e-12;

  xx[301] = xx[299] * xx[298] - xx[300] * xx[4];

  xx[302] = xx[299] - xx[34] * xx[301] * xx[298];

  xx[303] = xx[291] - xx[302];

  xx[304] = xx[300] + xx[34] * xx[301] * xx[4];

  xx[301] = 1.587500000000039e-3;

  xx[305] = 3.999999996613603e-3;

  xx[306] = xx[305] - (xx[4] * xx[305] * xx[4] + xx[305] * xx[298] * xx[298]) *

    xx[34];

  xx[305] = xx[301] - xx[306];

  xx[307] = xx[44] * state[93] - xx[46] * state[90];

  xx[308] = xx[44] * state[92] + xx[46] * state[91];

  xx[309] = - xx[308];

  xx[310] = xx[46] * state[92] - xx[44] * state[91];

  xx[311] = - xx[310];

  xx[312] = xx[44] * state[90] + xx[46] * state[93];

  xx[313] = - xx[312];

  xx[314] = xx[307];

  xx[315] = xx[309];

  xx[316] = xx[311];

  xx[317] = xx[313];

  pm_math_quatXform(xx + 314, xx + 51, xx + 318);

  xx[321] = - (xx[228] * xx[231] + xx[230] * xx[226]);

  xx[322] = - (xx[220] * xx[230] - xx[231] * xx[224]);

  xx[323] = xx[220] * xx[231] + xx[230] * xx[224];

  xx[224] = xx[228] * xx[230] - xx[231] * xx[226];

  xx[324] = xx[220];

  xx[325] = xx[227];

  xx[326] = xx[228];

  xx[327] = xx[219];

  xx[328] = xx[236];

  xx[329] = xx[234];

  xx[330] = xx[238];

  pm_math_quatXform(xx + 324, xx + 328, xx + 331);

  xx[226] = xx[331] + xx[225];

  xx[334] = xx[332] + xx[221];

  xx[331] = xx[333] - xx[222];

  xx[335] = xx[321];

  xx[336] = xx[322];

  xx[337] = xx[323];

  xx[338] = xx[224];

  pm_math_quatCompose(xx + 335, xx + 247, xx + 339);

  pm_math_quatXform(xx + 335, xx + 251, xx + 343);

  xx[222] = - (xx[33] * xx[39] + xx[38] * xx[31]);

  xx[332] = - (xx[9] * xx[38] - xx[39] * xx[29]);

  xx[333] = xx[9] * xx[39] + xx[38] * xx[29];

  xx[29] = xx[33] * xx[38] - xx[39] * xx[31];

  xx[335] = xx[9];

  xx[336] = xx[32];

  xx[337] = xx[33];

  xx[338] = xx[3];

  xx[346] = xx[42];

  xx[347] = xx[41];

  xx[348] = xx[45];

  pm_math_quatXform(xx + 335, xx + 346, xx + 349);

  xx[31] = xx[349] + xx[35];

  xx[352] = xx[350] + xx[27];

  xx[349] = xx[351] - xx[30];

  xx[353] = xx[222];

  xx[354] = xx[332];

  xx[355] = xx[333];

  xx[356] = xx[29];

  pm_math_quatCompose(xx + 353, xx + 47, xx + 357);

  pm_math_quatXform(xx + 353, xx + 54, xx + 361);

  xx[30] = xx[361] + xx[31];

  xx[350] = xx[362] + xx[352];

  xx[351] = xx[363] + xx[349];

  pm_math_quatCompose(xx + 357, xx + 63, xx + 353);

  xx[361] = xx[73];

  xx[362] = xx[74];

  xx[363] = xx[70];

  pm_math_quatXform(xx + 357, xx + 361, xx + 364);

  xx[367] = xx[364] + xx[30];

  xx[368] = xx[365] + xx[350];

  xx[364] = xx[366] + xx[351];

  xx[365] = xx[72] * xx[353] - xx[356] * xx[75];

  xx[366] = xx[72] * xx[354] + xx[355] * xx[75];

  xx[369] = xx[72] * xx[355] - xx[354] * xx[75];

  xx[370] = xx[353] * xx[75] + xx[72] * xx[356];

  xx[371] = xx[78];

  xx[372] = xx[76];

  xx[373] = xx[80];

  pm_math_quatXform(xx + 353, xx + 371, xx + 374);

  xx[377] = xx[374] + xx[367];

  xx[378] = xx[375] + xx[368];

  xx[374] = xx[376] + xx[364];

  xx[379] = xx[365];

  xx[380] = xx[366];

  xx[381] = xx[369];

  xx[382] = xx[370];

  xx[383] = xx[88];

  xx[384] = xx[84];

  xx[385] = xx[86];

  pm_math_quatXform(xx + 379, xx + 383, xx + 386);

  xx[375] = xx[230] * xx[252] + xx[251] * xx[231];

  xx[376] = xx[72] * xx[82] + xx[75] * xx[83];

  xx[389] = xx[82] * xx[75] - xx[72] * xx[83];

  xx[390] = xx[75] * xx[89];

  xx[391] = xx[75] * xx[87];

  xx[392] = xx[34] * (xx[72] * xx[390] + xx[391] * xx[75]) - xx[87] - xx[77];

  xx[87] = (xx[390] * xx[75] - xx[72] * xx[391]) * xx[34] - xx[89] - xx[79];

  xx[89] = 7.519262990030029e-13;

  xx[390] = xx[376] * xx[58] + xx[62] * xx[389];

  xx[391] = xx[376] * xx[59] - xx[60] * xx[389];

  xx[393] = - (xx[60] * xx[376] + xx[59] * xx[389]);

  xx[60] = xx[58] * xx[389] - xx[62] * xx[376];

  xx[394] = xx[392];

  xx[395] = xx[87];

  xx[396] = xx[89];

  pm_math_quatXform(xx + 63, xx + 394, xx + 397);

  xx[62] = xx[397] + xx[73];

  xx[394] = xx[398] + xx[74];

  xx[395] = xx[399] + xx[70];

  xx[396] = xx[390];

  xx[397] = xx[391];

  xx[398] = xx[393];

  xx[399] = xx[60];

  pm_math_quatCompose(xx + 47, xx + 396, xx + 400);

  xx[396] = xx[62];

  xx[397] = xx[394];

  xx[398] = xx[395];

  pm_math_quatXform(xx + 47, xx + 396, xx + 404);

  xx[396] = xx[404] + xx[54];

  xx[397] = xx[405] + xx[55];

  xx[398] = xx[406] + xx[56];

  xx[399] = xx[397] * xx[38] + xx[396] * xx[39];

  xx[404] = - (xx[196] * xx[195] - xx[194] * xx[192]);

  xx[405] = - (xx[192] * xx[191] + xx[159] * xx[196]);

  xx[406] = xx[196] * xx[191] - xx[159] * xx[192];

  xx[407] = xx[194] * xx[196] + xx[192] * xx[195];

  xx[408] = xx[191];

  xx[409] = xx[194];

  xx[410] = xx[195];

  xx[411] = xx[159];

  xx[412] = xx[201];

  xx[413] = xx[199];

  xx[414] = xx[203];

  pm_math_quatXform(xx + 408, xx + 412, xx + 415);

  xx[418] = xx[415] + xx[193];

  xx[419] = xx[416] + xx[153];

  xx[415] = xx[417] + xx[160];

  pm_math_quatCompose(xx + 404, xx + 212, xx + 420);

  pm_math_quatXform(xx + 404, xx + 216, xx + 424);

  pm_math_quatCompose(xx + 379, xx + 100, xx + 427);

  pm_math_quatXform(xx + 379, xx + 104, xx + 431);

  xx[416] = xx[192] * xx[217] + xx[216] * xx[196];

  xx[417] = xx[72] * xx[95] + xx[94] * xx[75];

  xx[434] = - (xx[92] * xx[72] + xx[75] * xx[99]);

  xx[435] = xx[72] * xx[99] - xx[92] * xx[75];

  xx[92] = xx[75] * xx[95] - xx[94] * xx[72];

  xx[94] = xx[108] * xx[75];

  xx[436] = xx[75] * xx[104];

  xx[437] = xx[104] + xx[34] * (xx[72] * xx[94] - xx[436] * xx[75]) - xx[77];

  xx[438] = (xx[72] * xx[436] + xx[94] * xx[75]) * xx[34] - xx[108] - xx[79];

  xx[94] = xx[106] + xx[80];

  xx[439] = xx[417];

  xx[440] = xx[434];

  xx[441] = xx[435];

  xx[442] = xx[92];

  pm_math_quatCompose(xx + 63, xx + 439, xx + 443);

  xx[439] = xx[437];

  xx[440] = xx[438];

  xx[441] = xx[94];

  pm_math_quatXform(xx + 63, xx + 439, xx + 447);

  xx[108] = xx[447] + xx[73];

  xx[436] = xx[448] + xx[74];

  xx[439] = xx[449] + xx[70];

  pm_math_quatCompose(xx + 47, xx + 443, xx + 447);

  xx[440] = xx[108];

  xx[441] = xx[436];

  xx[442] = xx[439];

  pm_math_quatXform(xx + 47, xx + 440, xx + 451);

  xx[440] = xx[451] + xx[54];

  xx[441] = xx[452] + xx[55];

  xx[442] = xx[453] + xx[56];

  xx[451] = xx[441] * xx[38] + xx[440] * xx[39];

  xx[452] = - (xx[262] * xx[266] - xx[265] * xx[261]);

  xx[453] = - (xx[255] * xx[265] - xx[266] * xx[259]);

  xx[454] = xx[255] * xx[266] + xx[265] * xx[259];

  xx[259] = xx[266] * xx[261] + xx[262] * xx[265];

  xx[455] = xx[255];

  xx[456] = xx[261];

  xx[457] = xx[262];

  xx[458] = xx[254];

  xx[459] = xx[270];

  xx[460] = xx[271];

  xx[461] = xx[268];

  pm_math_quatXform(xx + 455, xx + 459, xx + 462);

  xx[465] = xx[462] - xx[260];

  xx[260] = xx[463] + xx[263];

  xx[462] = xx[464] - xx[257];

  xx[466] = xx[452];

  xx[467] = xx[453];

  xx[468] = xx[454];

  xx[469] = xx[259];

  pm_math_quatCompose(xx + 466, xx + 280, xx + 470);

  pm_math_quatXform(xx + 466, xx + 284, xx + 474);

  pm_math_quatCompose(xx + 379, xx + 118, xx + 466);

  pm_math_quatXform(xx + 379, xx + 123, xx + 477);

  xx[257] = xx[265] * xx[285] + xx[284] * xx[266];

  xx[463] = - (xx[113] * xx[72] + xx[75] * xx[116]);

  xx[464] = xx[72] * xx[110] + xx[117] * xx[75];

  xx[480] = xx[75] * xx[110] - xx[117] * xx[72];

  xx[117] = xx[72] * xx[116] - xx[113] * xx[75];

  xx[113] = xx[126] * xx[75];

  xx[481] = xx[75] * xx[122];

  xx[482] = xx[34] * (xx[72] * xx[113] + xx[481] * xx[75]) - xx[122] - xx[77];

  xx[122] = (xx[113] * xx[75] - xx[72] * xx[481]) * xx[34] - xx[126] - xx[79];

  xx[113] = xx[125] + xx[80];

  xx[483] = xx[463];

  xx[484] = xx[464];

  xx[485] = xx[480];

  xx[486] = xx[117];

  pm_math_quatCompose(xx + 63, xx + 483, xx + 487);

  xx[483] = xx[482];

  xx[484] = xx[122];

  xx[485] = xx[113];

  pm_math_quatXform(xx + 63, xx + 483, xx + 491);

  xx[126] = xx[491] + xx[73];

  xx[481] = xx[492] + xx[74];

  xx[483] = xx[493] + xx[70];

  pm_math_quatCompose(xx + 47, xx + 487, xx + 491);

  xx[484] = xx[126];

  xx[485] = xx[481];

  xx[486] = xx[483];

  pm_math_quatXform(xx + 47, xx + 484, xx + 495);

  xx[484] = xx[495] + xx[54];

  xx[485] = xx[496] + xx[55];

  xx[486] = xx[497] + xx[56];

  xx[495] = xx[485] * xx[38] + xx[484] * xx[39];

  xx[496] = - (xx[296] * xx[298] + xx[4] * xx[294]);

  xx[497] = - (xx[288] * xx[4] + xx[298] * xx[292]);

  xx[498] = xx[288] * xx[298] - xx[4] * xx[292];

  xx[499] = xx[296] * xx[4] - xx[298] * xx[294];

  xx[500] = xx[288];

  xx[501] = xx[295];

  xx[502] = xx[296];

  xx[503] = xx[292];

  pm_math_quatXform(xx + 500, xx + 303, xx + 504);

  xx[294] = xx[504] - xx[293];

  xx[293] = xx[505] + xx[297];

  xx[504] = xx[506] - xx[290];

  pm_math_quatCompose(xx + 496, xx + 314, xx + 505);

  pm_math_quatXform(xx + 496, xx + 318, xx + 509);

  pm_math_quatCompose(xx + 379, xx + 131, xx + 512);

  pm_math_quatXform(xx + 379, xx + 136, xx + 516);

  xx[290] = xx[4] * xx[319] + xx[318] * xx[298];

  xx[519] = xx[107] * xx[72] - xx[75] * xx[128];

  xx[520] = xx[72] * xx[115] - xx[130] * xx[75];

  xx[521] = xx[130] * xx[72] + xx[75] * xx[115];

  xx[522] = xx[72] * xx[128] + xx[107] * xx[75];

  xx[523] = xx[139] * xx[75];

  xx[524] = xx[75] * xx[135];

  xx[525] = xx[34] * (xx[72] * xx[523] + xx[524] * xx[75]) - xx[135] - xx[77];

  xx[135] = (xx[523] * xx[75] - xx[72] * xx[524]) * xx[34] - xx[139] - xx[79];

  xx[139] = xx[138] + xx[80];

  pm_math_quatCompose(xx + 63, xx + 519, xx + 526);

  xx[530] = xx[525];

  xx[531] = xx[135];

  xx[532] = xx[139];

  pm_math_quatXform(xx + 63, xx + 530, xx + 533);

  xx[523] = xx[533] + xx[73];

  xx[524] = xx[534] + xx[74];

  xx[530] = xx[535] + xx[70];

  pm_math_quatCompose(xx + 47, xx + 526, xx + 531);

  xx[535] = xx[523];

  xx[536] = xx[524];

  xx[537] = xx[530];

  pm_math_quatXform(xx + 47, xx + 535, xx + 538);

  xx[535] = xx[538] + xx[54];

  xx[536] = xx[539] + xx[55];

  xx[537] = xx[540] + xx[56];

  xx[538] = xx[536] * xx[38] + xx[535] * xx[39];

  xx[539] = - (xx[169] * xx[162] - xx[161] * xx[168]);

  xx[540] = - (xx[168] * xx[155] + xx[163] * xx[169]);

  xx[541] = xx[169] * xx[155] - xx[163] * xx[168];

  xx[542] = xx[161] * xx[169] + xx[168] * xx[162];

  xx[543] = xx[155];

  xx[544] = xx[161];

  xx[545] = xx[162];

  xx[546] = xx[163];

  xx[547] = xx[174];

  xx[548] = xx[175];

  xx[549] = xx[172];

  pm_math_quatXform(xx + 543, xx + 547, xx + 550);

  xx[553] = xx[550] - xx[166];

  xx[166] = xx[551] + xx[167];

  xx[550] = xx[552] + xx[164];

  pm_math_quatCompose(xx + 539, xx + 184, xx + 554);

  pm_math_quatXform(xx + 539, xx + 188, xx + 558);

  pm_math_quatCompose(xx + 379, xx + 146, xx + 561);

  pm_math_quatXform(xx + 379, xx + 150, xx + 565);

  xx[379] = xx[168] * xx[189] + xx[188] * xx[169];

  xx[380] = xx[72] * xx[90] + xx[143] * xx[75];

  xx[381] = - (xx[96] * xx[72] + xx[75] * xx[145]);

  xx[382] = xx[72] * xx[145] - xx[96] * xx[75];

  xx[96] = xx[75] * xx[90] - xx[143] * xx[72];

  xx[143] = xx[154] * xx[75];

  xx[551] = xx[75] * xx[150];

  xx[552] = xx[150] + xx[34] * (xx[72] * xx[143] - xx[551] * xx[75]) - xx[77];

  xx[77] = (xx[72] * xx[551] + xx[143] * xx[75]) * xx[34] - xx[154] - xx[79];

  xx[79] = xx[152] + xx[80];

  xx[568] = xx[380];

  xx[569] = xx[381];

  xx[570] = xx[382];

  xx[571] = xx[96];

  pm_math_quatCompose(xx + 63, xx + 568, xx + 572);

  xx[568] = xx[552];

  xx[569] = xx[77];

  xx[570] = xx[79];

  pm_math_quatXform(xx + 63, xx + 568, xx + 576);

  xx[143] = xx[576] + xx[73];

  xx[154] = xx[577] + xx[74];

  xx[551] = xx[578] + xx[70];

  pm_math_quatCompose(xx + 47, xx + 572, xx + 568);

  xx[576] = xx[143];

  xx[577] = xx[154];

  xx[578] = xx[551];

  pm_math_quatXform(xx + 47, xx + 576, xx + 579);

  xx[576] = xx[579] + xx[54];

  xx[577] = xx[580] + xx[55];

  xx[578] = xx[581] + xx[56];

  xx[579] = xx[577] * xx[38] + xx[576] * xx[39];

  xx[580] = xx[1] * xx[24];

  xx[581] = xx[1] * xx[25];

  xx[582] = xx[580] + xx[581];

  xx[583] = xx[580] - xx[581];

  xx[580] = xx[1] * xx[22];

  xx[581] = xx[1] * xx[23];

  xx[584] = - (xx[580] + xx[581]);

  xx[585] = xx[581] - xx[580];

  xx[580] = 0.5000000000000001 * xx[19];

  xx[581] = (xx[580] + xx[580]) * xx[34] - xx[19] - state[0];

  xx[580] = 1.414213562373095 * (xx[1] * xx[21] - xx[1] * xx[20]);

  xx[1] = state[2] - (xx[580] + xx[20]);

  xx[586] = state[1] - (xx[21] - xx[580]);

  pm_math_quatCompose(xx + 582, xx + 335, xx + 587);

  xx[591] = xx[35];

  xx[592] = xx[27];

  xx[593] = xx[36];

  pm_math_quatXform(xx + 582, xx + 591, xx + 594);

  xx[580] = xx[594] + xx[581];

  xx[597] = xx[595] + xx[1];

  xx[594] = xx[596] + xx[586];

  xx[595] = - (xx[589] * xx[39] - xx[38] * xx[588]);

  xx[596] = - (xx[38] * xx[587] + xx[590] * xx[39]);

  xx[598] = xx[587] * xx[39] - xx[38] * xx[590];

  xx[599] = xx[588] * xx[39] + xx[38] * xx[589];

  pm_math_quatXform(xx + 587, xx + 346, xx + 600);

  xx[603] = xx[600] + xx[580];

  xx[604] = xx[601] + xx[597];

  xx[600] = xx[602] + xx[594];

  xx[605] = xx[595];

  xx[606] = xx[596];

  xx[607] = xx[598];

  xx[608] = xx[599];

  pm_math_quatCompose(xx + 605, xx + 47, xx + 609);

  pm_math_quatXform(xx + 605, xx + 54, xx + 613);

  xx[601] = xx[613] + xx[603];

  xx[602] = xx[614] + xx[604];

  xx[605] = xx[615] + xx[600];

  pm_math_quatCompose(xx + 609, xx + 63, xx + 613);

  pm_math_quatXform(xx + 609, xx + 361, xx + 606);

  xx[617] = xx[606] + xx[601];

  xx[618] = xx[607] + xx[602];

  xx[606] = xx[608] + xx[605];

  pm_math_quatXform(xx + 613, xx + 371, xx + 619);

  xx[622] = - xx[5];

  xx[623] = xx[7];

  xx[624] = xx[8];

  pm_math_quatInverseXform(xx + 12, xx + 622, xx + 625);

  xx[5] = (1.0 - (xx[24] * xx[24] + xx[25] * xx[25]) * xx[34]) * state[9] + xx

    [625] * state[10] - xx[6] * state[11];

  xx[6] = xx[34] * (xx[23] * xx[24] - xx[22] * xx[25]) * state[9] + xx[626] *

    state[10] - xx[10] * state[11];

  xx[7] = xx[34] * (xx[22] * xx[24] + xx[23] * xx[25]) * state[9] + xx[627] *

    state[10] + xx[11] * state[11];

  xx[10] = state[3];

  xx[11] = state[4];

  xx[12] = state[5];

  pm_math_quatInverseXform(xx + 22, xx + 10, xx + 13);

  pm_math_cross3(xx + 16, xx + 5, xx + 10);

  xx[8] = xx[13] + xx[10];

  xx[16] = xx[14] + xx[11];

  xx[10] = xx[15] + xx[12];

  pm_math_quatInverseXform(xx + 335, xx + 5, xx + 11);

  xx[14] = xx[13] - state[13];

  pm_math_cross3(xx + 5, xx + 591, xx + 622);

  xx[591] = xx[622] + xx[8];

  xx[592] = xx[623] + xx[16];

  xx[593] = xx[624] + xx[10];

  pm_math_quatInverseXform(xx + 335, xx + 591, xx + 622);

  xx[13] = xx[623] - xx[28] * state[13];

  xx[15] = xx[38] * xx[12] + xx[11] * xx[39];

  xx[17] = xx[11] - xx[34] * xx[15] * xx[39];

  xx[18] = xx[12] - xx[34] * xx[15] * xx[38];

  xx[15] = xx[14] - (xx[38] * xx[38] * xx[14] + xx[39] * xx[14] * xx[39]) * xx

    [34] + state[15];

  xx[335] = xx[11];

  xx[336] = xx[12];

  xx[337] = xx[14];

  pm_math_cross3(xx + 335, xx + 346, xx + 591);

  xx[335] = xx[591] + xx[622];

  xx[336] = xx[592] + xx[13];

  xx[337] = xx[336] * xx[38] + xx[335] * xx[39];

  xx[338] = xx[335] - xx[34] * xx[337] * xx[39] - xx[37] * state[15];

  xx[37] = xx[336] - xx[34] * xx[337] * xx[38] + xx[40] * state[15];

  xx[40] = xx[593] + xx[624];

  xx[335] = xx[40] - (xx[38] * xx[40] * xx[38] + xx[40] * xx[39] * xx[39]) * xx

    [34];

  xx[346] = xx[17];

  xx[347] = xx[18];

  xx[348] = xx[15];

  pm_math_quatInverseXform(xx + 47, xx + 346, xx + 591);

  xx[40] = xx[44] * state[20];

  xx[336] = xx[44] * state[21];

  xx[337] = state[20] - (xx[44] * xx[40] - xx[46] * xx[336]) * xx[34];

  xx[607] = xx[591] + xx[337];

  xx[608] = state[21] - xx[34] * (xx[46] * xx[40] + xx[44] * xx[336]);

  xx[40] = xx[592] + xx[608];

  xx[336] = xx[593] + state[22];

  pm_math_cross3(xx + 346, xx + 54, xx + 591);

  xx[346] = xx[591] + xx[338];

  xx[347] = xx[592] + xx[37];

  xx[348] = xx[593] + xx[335];

  pm_math_quatInverseXform(xx + 47, xx + 346, xx + 591);

  xx[346] = xx[337];

  xx[347] = xx[608];

  xx[348] = state[22];

  pm_math_cross3(xx + 346, xx + 51, xx + 625);

  xx[337] = xx[591] + xx[625];

  xx[346] = xx[592] + xx[626];

  xx[347] = xx[593] + xx[627];

  xx[591] = xx[607];

  xx[592] = xx[40];

  xx[593] = xx[336];

  pm_math_quatInverseXform(xx + 63, xx + 591, xx + 625);

  xx[348] = xx[625] + state[27];

  xx[608] = xx[626] + state[28];

  xx[623] = xx[627] + state[29];

  pm_math_cross3(xx + 591, xx + 361, xx + 625);

  xx[361] = xx[625] + xx[337];

  xx[362] = xx[626] + xx[346];

  xx[363] = xx[627] + xx[347];

  pm_math_quatInverseXform(xx + 63, xx + 361, xx + 591);

  xx[63] = state[27];

  xx[64] = state[28];

  xx[65] = state[29];

  pm_math_cross3(xx + 63, xx + 67, xx + 361);

  xx[63] = xx[591] + xx[361];

  xx[64] = xx[592] + xx[362];

  xx[65] = xx[593] + xx[363];

  xx[66] = xx[608] * xx[75];

  xx[67] = xx[348] * xx[75];

  xx[68] = xx[348] + xx[34] * (xx[72] * xx[66] - xx[67] * xx[75]);

  xx[69] = xx[608] - (xx[72] * xx[67] + xx[66] * xx[75]) * xx[34];

  xx[66] = xx[623] + state[31];

  xx[361] = xx[348];

  xx[362] = xx[608];

  xx[363] = xx[623];

  pm_math_cross3(xx + 361, xx + 371, xx + 591);

  xx[67] = xx[591] + xx[63];

  xx[361] = xx[592] + xx[64];

  xx[362] = xx[361] * xx[75];

  xx[363] = xx[67] * xx[75];

  xx[371] = xx[67] + xx[34] * (xx[72] * xx[362] - xx[363] * xx[75]);

  xx[67] = xx[361] - (xx[72] * xx[363] + xx[362] * xx[75]) * xx[34] - xx[71] *

    state[31];

  xx[71] = xx[593] + xx[65];

  xx[361] = xx[83] * xx[69];

  xx[362] = xx[68] * xx[83];

  xx[591] = xx[68];

  xx[592] = xx[69];

  xx[593] = xx[66];

  pm_math_cross3(xx + 591, xx + 383, xx + 625);

  xx[363] = xx[625] + xx[371];

  xx[372] = xx[626] + xx[67];

  xx[373] = xx[372] * xx[83];

  xx[383] = xx[363] * xx[83];

  pm_math_quatInverseXform(xx + 100, xx + 591, xx + 628);

  pm_math_cross3(xx + 591, xx + 104, xx + 631);

  xx[634] = xx[631] + xx[371];

  xx[635] = xx[632] + xx[67];

  xx[636] = xx[633] + xx[71];

  pm_math_quatInverseXform(xx + 100, xx + 634, xx + 631);

  pm_math_quatInverseXform(xx + 118, xx + 591, xx + 100);

  pm_math_cross3(xx + 591, xx + 123, xx + 634);

  xx[637] = xx[634] + xx[371];

  xx[638] = xx[635] + xx[67];

  xx[639] = xx[636] + xx[71];

  pm_math_quatInverseXform(xx + 118, xx + 637, xx + 634);

  pm_math_quatInverseXform(xx + 131, xx + 591, xx + 118);

  pm_math_cross3(xx + 591, xx + 136, xx + 637);

  xx[640] = xx[637] + xx[371];

  xx[641] = xx[638] + xx[67];

  xx[642] = xx[639] + xx[71];

  pm_math_quatInverseXform(xx + 131, xx + 640, xx + 637);

  pm_math_quatInverseXform(xx + 146, xx + 591, xx + 131);

  pm_math_cross3(xx + 591, xx + 150, xx + 640);

  xx[591] = xx[640] + xx[371];

  xx[592] = xx[641] + xx[67];

  xx[593] = xx[642] + xx[71];

  pm_math_quatInverseXform(xx + 146, xx + 591, xx + 640);

  pm_math_quatInverseXform(xx + 543, xx + 5, xx + 146);

  xx[103] = xx[148] + state[43];

  xx[591] = xx[158];

  xx[592] = xx[167];

  xx[593] = xx[164];

  pm_math_cross3(xx + 5, xx + 591, xx + 643);

  xx[591] = xx[643] + xx[8];

  xx[592] = xx[644] + xx[16];

  xx[593] = xx[645] + xx[10];

  pm_math_quatInverseXform(xx + 543, xx + 591, xx + 643);

  xx[121] = xx[644] + xx[28] * state[43];

  xx[134] = xx[168] * xx[147] + xx[146] * xx[169];

  xx[148] = xx[146] - xx[34] * xx[134] * xx[169];

  xx[149] = xx[147] - xx[34] * xx[134] * xx[168];

  xx[134] = xx[103] - (xx[168] * xx[103] * xx[168] + xx[103] * xx[169] * xx[169])

    * xx[34] + state[45];

  xx[543] = xx[146];

  xx[544] = xx[147];

  xx[545] = xx[103];

  pm_math_cross3(xx + 543, xx + 547, xx + 591);

  xx[384] = xx[591] + xx[643];

  xx[385] = xx[592] + xx[121];

  xx[543] = xx[385] * xx[168] + xx[384] * xx[169];

  xx[544] = xx[384] - xx[34] * xx[543] * xx[169] - xx[171] * state[45];

  xx[171] = xx[385] - xx[34] * xx[543] * xx[168] - xx[170] * state[45];

  xx[170] = xx[593] + xx[645];

  xx[384] = xx[170] - (xx[168] * xx[170] * xx[168] + xx[170] * xx[169] * xx[169])

    * xx[34];

  xx[545] = xx[148];

  xx[546] = xx[149];

  xx[547] = xx[134];

  pm_math_quatInverseXform(xx + 184, xx + 545, xx + 591);

  xx[170] = xx[44] * state[50];

  xx[385] = xx[44] * state[51];

  xx[543] = state[50] - (xx[44] * xx[170] - xx[46] * xx[385]) * xx[34];

  xx[548] = state[51] - xx[34] * (xx[46] * xx[170] + xx[44] * xx[385]);

  pm_math_cross3(xx + 545, xx + 188, xx + 646);

  xx[545] = xx[646] + xx[544];

  xx[546] = xx[647] + xx[171];

  xx[547] = xx[648] + xx[384];

  pm_math_quatInverseXform(xx + 184, xx + 545, xx + 646);

  xx[184] = xx[543];

  xx[185] = xx[548];

  xx[186] = state[52];

  pm_math_cross3(xx + 184, xx + 51, xx + 545);

  pm_math_quatInverseXform(xx + 408, xx + 5, xx + 184);

  xx[170] = xx[186] + state[54];

  xx[649] = xx[193];

  xx[650] = xx[153];

  xx[651] = xx[160];

  pm_math_cross3(xx + 5, xx + 649, xx + 652);

  xx[649] = xx[652] + xx[8];

  xx[650] = xx[653] + xx[16];

  xx[651] = xx[654] + xx[10];

  pm_math_quatInverseXform(xx + 408, xx + 649, xx + 652);

  xx[186] = xx[653] + xx[157] * state[54];

  xx[157] = xx[192] * xx[185] + xx[184] * xx[196];

  xx[187] = xx[184] - xx[34] * xx[157] * xx[196];

  xx[385] = xx[185] - xx[34] * xx[157] * xx[192];

  xx[157] = xx[170] - (xx[192] * xx[170] * xx[192] + xx[170] * xx[196] * xx[196])

    * xx[34] + state[56];

  xx[408] = xx[184];

  xx[409] = xx[185];

  xx[410] = xx[170];

  pm_math_cross3(xx + 408, xx + 412, xx + 649);

  xx[408] = xx[649] + xx[652];

  xx[409] = xx[650] + xx[186];

  xx[410] = xx[409] * xx[192] + xx[408] * xx[196];

  xx[411] = xx[408] - xx[34] * xx[410] * xx[196] + xx[198] * state[56];

  xx[198] = xx[409] - xx[34] * xx[410] * xx[192] + xx[197] * state[56];

  xx[197] = xx[651] + xx[654];

  xx[408] = xx[197] - (xx[192] * xx[197] * xx[192] + xx[197] * xx[196] * xx[196])

    * xx[34];

  xx[412] = xx[187];

  xx[413] = xx[385];

  xx[414] = xx[157];

  pm_math_quatInverseXform(xx + 212, xx + 412, xx + 649);

  xx[197] = xx[44] * state[61];

  xx[409] = xx[44] * state[62];

  xx[410] = state[61] - (xx[44] * xx[197] - xx[46] * xx[409]) * xx[34];

  xx[549] = state[62] - xx[34] * (xx[46] * xx[197] + xx[44] * xx[409]);

  pm_math_cross3(xx + 412, xx + 216, xx + 655);

  xx[412] = xx[655] + xx[411];

  xx[413] = xx[656] + xx[198];

  xx[414] = xx[657] + xx[408];

  pm_math_quatInverseXform(xx + 212, xx + 412, xx + 655);

  xx[212] = xx[410];

  xx[213] = xx[549];

  xx[214] = state[63];

  pm_math_cross3(xx + 212, xx + 51, xx + 412);

  pm_math_quatInverseXform(xx + 324, xx + 5, xx + 212);

  xx[197] = xx[214] - state[65];

  xx[658] = xx[225];

  xx[659] = xx[221];

  xx[660] = xx[223];

  pm_math_cross3(xx + 5, xx + 658, xx + 661);

  xx[658] = xx[661] + xx[8];

  xx[659] = xx[662] + xx[16];

  xx[660] = xx[663] + xx[10];

  pm_math_quatInverseXform(xx + 324, xx + 658, xx + 661);

  xx[214] = xx[662] - xx[28] * state[65];

  xx[215] = xx[230] * xx[213] + xx[212] * xx[231];

  xx[324] = xx[212] - xx[34] * xx[215] * xx[231];

  xx[325] = xx[213] - xx[34] * xx[215] * xx[230];

  xx[215] = xx[197] - (xx[230] * xx[230] * xx[197] + xx[231] * xx[197] * xx[231])

    * xx[34] + state[67];

  xx[658] = xx[212];

  xx[659] = xx[213];

  xx[660] = xx[197];

  pm_math_cross3(xx + 658, xx + 328, xx + 664);

  xx[326] = xx[664] + xx[661];

  xx[327] = xx[665] + xx[214];

  xx[328] = xx[327] * xx[230] + xx[326] * xx[231];

  xx[329] = xx[326] - xx[34] * xx[328] * xx[231] + xx[233] * state[67];

  xx[233] = xx[327] - xx[34] * xx[328] * xx[230] - xx[232] * state[67];

  xx[232] = xx[666] + xx[663];

  xx[326] = xx[232] - (xx[230] * xx[232] * xx[230] + xx[232] * xx[231] * xx[231])

    * xx[34];

  xx[658] = xx[324];

  xx[659] = xx[325];

  xx[660] = xx[215];

  pm_math_quatInverseXform(xx + 247, xx + 658, xx + 664);

  xx[232] = xx[44] * state[72];

  xx[327] = xx[44] * state[73];

  xx[328] = state[72] - (xx[44] * xx[232] - xx[46] * xx[327]) * xx[34];

  xx[330] = state[73] - xx[34] * (xx[46] * xx[232] + xx[44] * xx[327]);

  pm_math_cross3(xx + 658, xx + 251, xx + 667);

  xx[658] = xx[667] + xx[329];

  xx[659] = xx[668] + xx[233];

  xx[660] = xx[669] + xx[326];

  pm_math_quatInverseXform(xx + 247, xx + 658, xx + 667);

  xx[247] = xx[328];

  xx[248] = xx[330];

  xx[249] = state[74];

  pm_math_cross3(xx + 247, xx + 51, xx + 658);

  pm_math_quatInverseXform(xx + 455, xx + 5, xx + 247);

  xx[232] = xx[249] - state[76];

  xx[670] = xx[256];

  xx[671] = xx[263];

  xx[672] = xx[258];

  pm_math_cross3(xx + 5, xx + 670, xx + 673);

  xx[670] = xx[673] + xx[8];

  xx[671] = xx[674] + xx[16];

  xx[672] = xx[675] + xx[10];

  pm_math_quatInverseXform(xx + 455, xx + 670, xx + 673);

  xx[249] = xx[674] - xx[28] * state[76];

  xx[250] = xx[265] * xx[248] + xx[247] * xx[266];

  xx[327] = xx[247] - xx[34] * xx[250] * xx[266];

  xx[409] = xx[248] - xx[34] * xx[250] * xx[265];

  xx[250] = xx[232] - (xx[265] * xx[265] * xx[232] + xx[266] * xx[232] * xx[266])

    * xx[34] + state[78];

  xx[455] = xx[247];

  xx[456] = xx[248];

  xx[457] = xx[232];

  pm_math_cross3(xx + 455, xx + 459, xx + 670);

  xx[455] = xx[670] + xx[673];

  xx[456] = xx[671] + xx[249];

  xx[457] = xx[456] * xx[265] + xx[455] * xx[266];

  xx[458] = xx[455] - xx[34] * xx[457] * xx[266] - xx[267] * state[78];

  xx[267] = xx[456] - xx[34] * xx[457] * xx[265] - xx[264] * state[78];

  xx[264] = xx[672] + xx[675];

  xx[455] = xx[264] - (xx[265] * xx[264] * xx[265] + xx[264] * xx[266] * xx[266])

    * xx[34];

  xx[459] = xx[327];

  xx[460] = xx[409];

  xx[461] = xx[250];

  pm_math_quatInverseXform(xx + 280, xx + 459, xx + 670);

  xx[264] = xx[44] * state[83];

  xx[456] = xx[44] * state[84];

  xx[457] = state[83] - (xx[44] * xx[264] - xx[46] * xx[456]) * xx[34];

  xx[625] = state[84] - xx[34] * (xx[46] * xx[264] + xx[44] * xx[456]);

  pm_math_cross3(xx + 459, xx + 284, xx + 676);

  xx[459] = xx[676] + xx[458];

  xx[460] = xx[677] + xx[267];

  xx[461] = xx[678] + xx[455];

  pm_math_quatInverseXform(xx + 280, xx + 459, xx + 676);

  xx[280] = xx[457];

  xx[281] = xx[625];

  xx[282] = state[85];

  pm_math_cross3(xx + 280, xx + 51, xx + 459);

  pm_math_quatInverseXform(xx + 500, xx + 5, xx + 280);

  xx[264] = xx[282] - state[87];

  xx[679] = xx[289];

  xx[680] = xx[297];

  xx[681] = xx[287];

  pm_math_cross3(xx + 5, xx + 679, xx + 682);

  xx[679] = xx[682] + xx[8];

  xx[680] = xx[683] + xx[16];

  xx[681] = xx[684] + xx[10];

  pm_math_quatInverseXform(xx + 500, xx + 679, xx + 682);

  xx[282] = xx[683] - xx[28] * state[87];

  xx[28] = xx[4] * xx[281] + xx[280] * xx[298];

  xx[283] = xx[280] - xx[34] * xx[28] * xx[298];

  xx[456] = xx[281] - xx[34] * xx[28] * xx[4];

  xx[28] = xx[264] - (xx[4] * xx[4] * xx[264] + xx[298] * xx[264] * xx[298]) *

    xx[34] + state[89];

  xx[500] = xx[280];

  xx[501] = xx[281];

  xx[502] = xx[264];

  pm_math_cross3(xx + 500, xx + 303, xx + 679);

  xx[500] = xx[679] + xx[682];

  xx[501] = xx[680] + xx[282];

  xx[502] = xx[501] * xx[4] + xx[500] * xx[298];

  xx[503] = xx[500] - xx[34] * xx[502] * xx[298] - xx[300] * state[89];

  xx[300] = xx[501] - xx[34] * xx[502] * xx[4] - xx[299] * state[89];

  xx[299] = xx[681] + xx[684];

  xx[500] = xx[299] - (xx[4] * xx[299] * xx[4] + xx[299] * xx[298] * xx[298]) *

    xx[34];

  xx[679] = xx[283];

  xx[680] = xx[456];

  xx[681] = xx[28];

  pm_math_quatInverseXform(xx + 314, xx + 679, xx + 685);

  xx[299] = xx[44] * state[94];

  xx[501] = xx[44] * state[95];

  xx[502] = state[94] - (xx[44] * xx[299] - xx[46] * xx[501]) * xx[34];

  xx[626] = state[95] - xx[34] * (xx[46] * xx[299] + xx[44] * xx[501]);

  pm_math_cross3(xx + 679, xx + 318, xx + 688);

  xx[679] = xx[688] + xx[503];

  xx[680] = xx[689] + xx[300];

  xx[681] = xx[690] + xx[500];

  pm_math_quatInverseXform(xx + 314, xx + 679, xx + 688);

  xx[314] = xx[502];

  xx[315] = xx[626];

  xx[316] = state[96];

  pm_math_cross3(xx + 314, xx + 51, xx + 679);

  motionData[0] = xx[0];

  motionData[1] = xx[0];

  motionData[2] = xx[2];

  motionData[3] = xx[2];

  motionData[4] = - state[0];

  motionData[5] = state[2];

  motionData[6] = state[1];

  motionData[7] = xx[22];

  motionData[8] = xx[23];

  motionData[9] = xx[24];

  motionData[10] = xx[25];

  motionData[11] = - xx[19];

  motionData[12] = - xx[20];

  motionData[13] = - xx[21];

  motionData[14] = xx[9];

  motionData[15] = xx[32];

  motionData[16] = xx[33];

  motionData[17] = xx[3];

  motionData[18] = xx[35];

  motionData[19] = xx[27];

  motionData[20] = xx[36];

  motionData[21] = xx[0];

  motionData[22] = - xx[38];

  motionData[23] = xx[39];

  motionData[24] = xx[0];

  motionData[25] = xx[42];

  motionData[26] = xx[41];

  motionData[27] = xx[45];

  motionData[28] = xx[47];

  motionData[29] = xx[48];

  motionData[30] = xx[49];

  motionData[31] = xx[50];

  motionData[32] = xx[54];

  motionData[33] = xx[55];

  motionData[34] = xx[56];

  motionData[35] = xx[58];

  motionData[36] = xx[59];

  motionData[37] = xx[61];

  motionData[38] = xx[57];

  motionData[39] = xx[73];

  motionData[40] = xx[74];

  motionData[41] = xx[70];

  motionData[42] = xx[72];

  motionData[43] = xx[0];

  motionData[44] = xx[0];

  motionData[45] = xx[75];

  motionData[46] = xx[78];

  motionData[47] = xx[76];

  motionData[48] = xx[80];

  motionData[49] = xx[82];

  motionData[50] = xx[0];

  motionData[51] = xx[0];

  motionData[52] = - xx[83];

  motionData[53] = xx[88];

  motionData[54] = xx[84];

  motionData[55] = xx[86];

  motionData[56] = xx[95];

  motionData[57] = xx[98];

  motionData[58] = xx[99];

  motionData[59] = xx[91];

  motionData[60] = xx[104];

  motionData[61] = xx[105];

  motionData[62] = xx[106];

  motionData[63] = xx[114];

  motionData[64] = xx[110];

  motionData[65] = xx[112];

  motionData[66] = xx[116];

  motionData[67] = xx[123];

  motionData[68] = xx[124];

  motionData[69] = xx[125];

  motionData[70] = xx[107];

  motionData[71] = xx[115];

  motionData[72] = xx[130];

  motionData[73] = xx[128];

  motionData[74] = xx[136];

  motionData[75] = xx[137];

  motionData[76] = xx[138];

  motionData[77] = xx[90];

  motionData[78] = xx[141];

  motionData[79] = xx[145];

  motionData[80] = xx[140];

  motionData[81] = xx[150];

  motionData[82] = xx[151];

  motionData[83] = xx[152];

  motionData[84] = xx[155];

  motionData[85] = xx[161];

  motionData[86] = xx[162];

  motionData[87] = xx[163];

  motionData[88] = xx[158];

  motionData[89] = xx[167];

  motionData[90] = xx[164];

  motionData[91] = xx[0];

  motionData[92] = - xx[168];

  motionData[93] = xx[169];

  motionData[94] = xx[0];

  motionData[95] = xx[174];

  motionData[96] = xx[175];

  motionData[97] = xx[172];

  motionData[98] = xx[177];

  motionData[99] = xx[179];

  motionData[100] = xx[181];

  motionData[101] = xx[183];

  motionData[102] = xx[188];

  motionData[103] = xx[189];

  motionData[104] = xx[190];

  motionData[105] = xx[191];

  motionData[106] = xx[194];

  motionData[107] = xx[195];

  motionData[108] = xx[159];

  motionData[109] = xx[193];

  motionData[110] = xx[153];

  motionData[111] = xx[160];

  motionData[112] = xx[0];

  motionData[113] = - xx[192];

  motionData[114] = xx[196];

  motionData[115] = xx[0];

  motionData[116] = xx[201];

  motionData[117] = xx[199];

  motionData[118] = xx[203];

  motionData[119] = xx[205];

  motionData[120] = xx[207];

  motionData[121] = xx[209];

  motionData[122] = xx[211];

  motionData[123] = xx[216];

  motionData[124] = xx[217];

  motionData[125] = xx[218];

  motionData[126] = xx[220];

  motionData[127] = xx[227];

  motionData[128] = xx[228];

  motionData[129] = xx[219];

  motionData[130] = xx[225];

  motionData[131] = xx[221];

  motionData[132] = xx[223];

  motionData[133] = xx[0];

  motionData[134] = - xx[230];

  motionData[135] = xx[231];

  motionData[136] = xx[0];

  motionData[137] = xx[236];

  motionData[138] = xx[234];

  motionData[139] = xx[238];

  motionData[140] = xx[240];

  motionData[141] = xx[242];

  motionData[142] = xx[244];

  motionData[143] = xx[246];

  motionData[144] = xx[251];

  motionData[145] = xx[252];

  motionData[146] = xx[253];

  motionData[147] = xx[255];

  motionData[148] = xx[261];

  motionData[149] = xx[262];

  motionData[150] = xx[254];

  motionData[151] = xx[256];

  motionData[152] = xx[263];

  motionData[153] = xx[258];

  motionData[154] = xx[0];

  motionData[155] = - xx[265];

  motionData[156] = xx[266];

  motionData[157] = xx[0];

  motionData[158] = xx[270];

  motionData[159] = xx[271];

  motionData[160] = xx[268];

  motionData[161] = xx[273];

  motionData[162] = xx[275];

  motionData[163] = xx[277];

  motionData[164] = xx[279];

  motionData[165] = xx[284];

  motionData[166] = xx[285];

  motionData[167] = xx[286];

  motionData[168] = xx[288];

  motionData[169] = xx[295];

  motionData[170] = xx[296];

  motionData[171] = xx[292];

  motionData[172] = xx[289];

  motionData[173] = xx[297];

  motionData[174] = xx[287];

  motionData[175] = xx[0];

  motionData[176] = - xx[4];

  motionData[177] = xx[298];

  motionData[178] = xx[0];

  motionData[179] = xx[303];

  motionData[180] = xx[304];

  motionData[181] = xx[305];

  motionData[182] = xx[307];

  motionData[183] = xx[309];

  motionData[184] = xx[311];

  motionData[185] = xx[313];

  motionData[186] = xx[318];

  motionData[187] = xx[319];

  motionData[188] = xx[320];

  motionData[189] = xx[321];

  motionData[190] = xx[322];

  motionData[191] = xx[323];

  motionData[192] = xx[224];

  motionData[193] = xx[226];

  motionData[194] = xx[334];

  motionData[195] = xx[331];

  motionData[196] = xx[339];

  motionData[197] = xx[340];

  motionData[198] = xx[341];

  motionData[199] = xx[342];

  motionData[200] = xx[343] + xx[226];

  motionData[201] = xx[344] + xx[334];

  motionData[202] = xx[345] + xx[331];

  motionData[203] = xx[222];

  motionData[204] = xx[332];

  motionData[205] = xx[333];

  motionData[206] = xx[29];

  motionData[207] = xx[31];

  motionData[208] = xx[352];

  motionData[209] = xx[349];

  motionData[210] = xx[357];

  motionData[211] = xx[358];

  motionData[212] = xx[359];

  motionData[213] = xx[360];

  motionData[214] = xx[30];

  motionData[215] = xx[350];

  motionData[216] = xx[351];

  motionData[217] = xx[353];

  motionData[218] = xx[354];

  motionData[219] = xx[355];

  motionData[220] = xx[356];

  motionData[221] = xx[367];

  motionData[222] = xx[368];

  motionData[223] = xx[364];

  motionData[224] = xx[365];

  motionData[225] = xx[366];

  motionData[226] = xx[369];

  motionData[227] = xx[370];

  motionData[228] = xx[377];

  motionData[229] = xx[378];

  motionData[230] = xx[374];

  motionData[231] = xx[82] * xx[365] + xx[370] * xx[83];

  motionData[232] = xx[366] * xx[82] - xx[83] * xx[369];

  motionData[233] = xx[82] * xx[369] + xx[366] * xx[83];

  motionData[234] = xx[370] * xx[82] - xx[83] * xx[365];

  motionData[235] = xx[386] + xx[377];

  motionData[236] = xx[387] + xx[378];

  motionData[237] = xx[388] + xx[374];

  motionData[238] = xx[243] * xx[231] - xx[230] * xx[241];

  motionData[239] = - (xx[231] * xx[245] + xx[230] * xx[240]);

  motionData[240] = xx[231] * xx[240] - xx[230] * xx[245];

  motionData[241] = xx[243] * xx[230] + xx[231] * xx[241];

  motionData[242] = xx[251] - (xx[34] * xx[375] * xx[231] + xx[235]) + xx[229];

  motionData[243] = xx[252] - xx[34] * xx[375] * xx[230] - xx[237];

  motionData[244] = xx[253] - ((xx[230] * xx[230] * xx[253] + xx[253] * xx[231] *

    xx[231]) * xx[34] + xx[239]) + xx[26];

  motionData[245] = xx[376];

  motionData[246] = xx[0];

  motionData[247] = xx[0];

  motionData[248] = xx[389];

  motionData[249] = xx[392];

  motionData[250] = xx[87];

  motionData[251] = xx[89];

  motionData[252] = xx[390];

  motionData[253] = xx[391];

  motionData[254] = xx[393];

  motionData[255] = xx[60];

  motionData[256] = xx[62];

  motionData[257] = xx[394];

  motionData[258] = xx[395];

  motionData[259] = xx[400];

  motionData[260] = xx[401];

  motionData[261] = xx[402];

  motionData[262] = xx[403];

  motionData[263] = xx[396];

  motionData[264] = xx[397];

  motionData[265] = xx[398];

  motionData[266] = xx[38] * xx[401] - xx[402] * xx[39];

  motionData[267] = xx[403] * xx[39] - xx[38] * xx[400];

  motionData[268] = xx[400] * xx[39] + xx[38] * xx[403];

  motionData[269] = - (xx[38] * xx[402] + xx[401] * xx[39]);

  motionData[270] = xx[396] - xx[34] * xx[399] * xx[39] + xx[42];

  motionData[271] = xx[397] - xx[34] * xx[399] * xx[38] - xx[43];

  motionData[272] = xx[398] - (xx[38] * xx[398] * xx[38] + xx[398] * xx[39] *

    xx[39]) * xx[34] + xx[45];

  motionData[273] = xx[404];

  motionData[274] = xx[405];

  motionData[275] = xx[406];

  motionData[276] = xx[407];

  motionData[277] = xx[418];

  motionData[278] = xx[419];

  motionData[279] = xx[415];

  motionData[280] = xx[420];

  motionData[281] = xx[421];

  motionData[282] = xx[422];

  motionData[283] = xx[423];

  motionData[284] = xx[424] + xx[418];

  motionData[285] = xx[425] + xx[419];

  motionData[286] = xx[426] + xx[415];

  motionData[287] = xx[427];

  motionData[288] = xx[428];

  motionData[289] = xx[429];

  motionData[290] = xx[430];

  motionData[291] = xx[431] + xx[377];

  motionData[292] = xx[432] + xx[378];

  motionData[293] = xx[433] + xx[374];

  motionData[294] = xx[208] * xx[196] - xx[192] * xx[206];

  motionData[295] = - (xx[196] * xx[210] + xx[192] * xx[205]);

  motionData[296] = xx[196] * xx[205] - xx[192] * xx[210];

  motionData[297] = xx[208] * xx[192] + xx[196] * xx[206];

  motionData[298] = xx[216] - (xx[34] * xx[416] * xx[196] - xx[200]) + xx[156];

  motionData[299] = xx[217] - xx[34] * xx[416] * xx[192] - xx[202];

  motionData[300] = xx[218] - ((xx[192] * xx[192] * xx[218] + xx[218] * xx[196] *

    xx[196]) * xx[34] + xx[204]) + xx[26];

  motionData[301] = xx[417];

  motionData[302] = xx[434];

  motionData[303] = xx[435];

  motionData[304] = xx[92];

  motionData[305] = xx[437];

  motionData[306] = xx[438];

  motionData[307] = xx[94];

  motionData[308] = xx[443];

  motionData[309] = xx[444];

  motionData[310] = xx[445];

  motionData[311] = xx[446];

  motionData[312] = xx[108];

  motionData[313] = xx[436];

  motionData[314] = xx[439];

  motionData[315] = xx[447];

  motionData[316] = xx[448];

  motionData[317] = xx[449];

  motionData[318] = xx[450];

  motionData[319] = xx[440];

  motionData[320] = xx[441];

  motionData[321] = xx[442];

  motionData[322] = xx[38] * xx[448] - xx[449] * xx[39];

  motionData[323] = xx[450] * xx[39] - xx[38] * xx[447];

  motionData[324] = xx[447] * xx[39] + xx[38] * xx[450];

  motionData[325] = - (xx[38] * xx[449] + xx[448] * xx[39]);

  motionData[326] = xx[440] - xx[34] * xx[451] * xx[39] + xx[42];

  motionData[327] = xx[441] - xx[34] * xx[451] * xx[38] - xx[43];

  motionData[328] = xx[442] - (xx[38] * xx[442] * xx[38] + xx[442] * xx[39] *

    xx[39]) * xx[34] + xx[45];

  motionData[329] = xx[452];

  motionData[330] = xx[453];

  motionData[331] = xx[454];

  motionData[332] = xx[259];

  motionData[333] = xx[465];

  motionData[334] = xx[260];

  motionData[335] = xx[462];

  motionData[336] = xx[470];

  motionData[337] = xx[471];

  motionData[338] = xx[472];

  motionData[339] = xx[473];

  motionData[340] = xx[474] + xx[465];

  motionData[341] = xx[475] + xx[260];

  motionData[342] = xx[476] + xx[462];

  motionData[343] = xx[466];

  motionData[344] = xx[467];

  motionData[345] = xx[468];

  motionData[346] = xx[469];

  motionData[347] = xx[477] + xx[377];

  motionData[348] = xx[478] + xx[378];

  motionData[349] = xx[479] + xx[374];

  motionData[350] = xx[276] * xx[266] - xx[265] * xx[274];

  motionData[351] = - (xx[266] * xx[278] + xx[265] * xx[273]);

  motionData[352] = xx[266] * xx[273] - xx[265] * xx[278];

  motionData[353] = xx[276] * xx[265] + xx[266] * xx[274];

  motionData[354] = xx[284] - (xx[34] * xx[257] * xx[266] + xx[269]) + xx[229];

  motionData[355] = xx[285] - xx[34] * xx[257] * xx[265] + xx[271];

  motionData[356] = xx[286] - ((xx[265] * xx[265] * xx[286] + xx[286] * xx[266] *

    xx[266]) * xx[34] + xx[272]) + xx[26];

  motionData[357] = xx[463];

  motionData[358] = xx[464];

  motionData[359] = xx[480];

  motionData[360] = xx[117];

  motionData[361] = xx[482];

  motionData[362] = xx[122];

  motionData[363] = xx[113];

  motionData[364] = xx[487];

  motionData[365] = xx[488];

  motionData[366] = xx[489];

  motionData[367] = xx[490];

  motionData[368] = xx[126];

  motionData[369] = xx[481];

  motionData[370] = xx[483];

  motionData[371] = xx[491];

  motionData[372] = xx[492];

  motionData[373] = xx[493];

  motionData[374] = xx[494];

  motionData[375] = xx[484];

  motionData[376] = xx[485];

  motionData[377] = xx[486];

  motionData[378] = xx[38] * xx[492] - xx[493] * xx[39];

  motionData[379] = xx[494] * xx[39] - xx[38] * xx[491];

  motionData[380] = xx[491] * xx[39] + xx[38] * xx[494];

  motionData[381] = - (xx[38] * xx[493] + xx[492] * xx[39]);

  motionData[382] = xx[484] - xx[34] * xx[495] * xx[39] + xx[42];

  motionData[383] = xx[485] - xx[34] * xx[495] * xx[38] - xx[43];

  motionData[384] = xx[486] - (xx[38] * xx[486] * xx[38] + xx[486] * xx[39] *

    xx[39]) * xx[34] + xx[45];

  motionData[385] = xx[496];

  motionData[386] = xx[497];

  motionData[387] = xx[498];

  motionData[388] = xx[499];

  motionData[389] = xx[294];

  motionData[390] = xx[293];

  motionData[391] = xx[504];

  motionData[392] = xx[505];

  motionData[393] = xx[506];

  motionData[394] = xx[507];

  motionData[395] = xx[508];

  motionData[396] = xx[509] + xx[294];

  motionData[397] = xx[510] + xx[293];

  motionData[398] = xx[511] + xx[504];

  motionData[399] = xx[512];

  motionData[400] = xx[513];

  motionData[401] = xx[514];

  motionData[402] = xx[515];

  motionData[403] = xx[516] + xx[377];

  motionData[404] = xx[517] + xx[378];

  motionData[405] = xx[518] + xx[374];

  motionData[406] = xx[310] * xx[298] - xx[4] * xx[308];

  motionData[407] = - (xx[298] * xx[312] + xx[4] * xx[307]);

  motionData[408] = xx[298] * xx[307] - xx[4] * xx[312];

  motionData[409] = xx[310] * xx[4] + xx[298] * xx[308];

  motionData[410] = xx[318] - (xx[34] * xx[290] * xx[298] + xx[302]) + xx[291];

  motionData[411] = xx[319] - xx[34] * xx[290] * xx[4] + xx[304];

  motionData[412] = xx[320] - ((xx[4] * xx[4] * xx[320] + xx[320] * xx[298] *

    xx[298]) * xx[34] + xx[306]) + xx[301];

  motionData[413] = xx[519];

  motionData[414] = xx[520];

  motionData[415] = xx[521];

  motionData[416] = xx[522];

  motionData[417] = xx[525];

  motionData[418] = xx[135];

  motionData[419] = xx[139];

  motionData[420] = xx[526];

  motionData[421] = xx[527];

  motionData[422] = xx[528];

  motionData[423] = xx[529];

  motionData[424] = xx[523];

  motionData[425] = xx[524];

  motionData[426] = xx[530];

  motionData[427] = xx[531];

  motionData[428] = xx[532];

  motionData[429] = xx[533];

  motionData[430] = xx[534];

  motionData[431] = xx[535];

  motionData[432] = xx[536];

  motionData[433] = xx[537];

  motionData[434] = xx[38] * xx[532] - xx[533] * xx[39];

  motionData[435] = xx[534] * xx[39] - xx[38] * xx[531];

  motionData[436] = xx[531] * xx[39] + xx[38] * xx[534];

  motionData[437] = - (xx[38] * xx[533] + xx[532] * xx[39]);

  motionData[438] = xx[535] - xx[34] * xx[538] * xx[39] + xx[42];

  motionData[439] = xx[536] - xx[34] * xx[538] * xx[38] - xx[43];

  motionData[440] = xx[537] - (xx[38] * xx[537] * xx[38] + xx[537] * xx[39] *

    xx[39]) * xx[34] + xx[45];

  motionData[441] = xx[539];

  motionData[442] = xx[540];

  motionData[443] = xx[541];

  motionData[444] = xx[542];

  motionData[445] = xx[553];

  motionData[446] = xx[166];

  motionData[447] = xx[550];

  motionData[448] = xx[554];

  motionData[449] = xx[555];

  motionData[450] = xx[556];

  motionData[451] = xx[557];

  motionData[452] = xx[558] + xx[553];

  motionData[453] = xx[559] + xx[166];

  motionData[454] = xx[560] + xx[550];

  motionData[455] = xx[561];

  motionData[456] = xx[562];

  motionData[457] = xx[563];

  motionData[458] = xx[564];

  motionData[459] = xx[565] + xx[377];

  motionData[460] = xx[566] + xx[378];

  motionData[461] = xx[567] + xx[374];

  motionData[462] = xx[180] * xx[169] - xx[168] * xx[178];

  motionData[463] = - (xx[169] * xx[182] + xx[168] * xx[177]);

  motionData[464] = xx[169] * xx[177] - xx[168] * xx[182];

  motionData[465] = xx[180] * xx[168] + xx[169] * xx[178];

  motionData[466] = xx[188] - (xx[34] * xx[379] * xx[169] + xx[173]) + xx[165];

  motionData[467] = xx[189] - xx[34] * xx[379] * xx[168] + xx[175];

  motionData[468] = xx[190] - ((xx[168] * xx[168] * xx[190] + xx[190] * xx[169] *

    xx[169]) * xx[34] + xx[176]) + xx[26];

  motionData[469] = xx[380];

  motionData[470] = xx[381];

  motionData[471] = xx[382];

  motionData[472] = xx[96];

  motionData[473] = xx[552];

  motionData[474] = xx[77];

  motionData[475] = xx[79];

  motionData[476] = xx[572];

  motionData[477] = xx[573];

  motionData[478] = xx[574];

  motionData[479] = xx[575];

  motionData[480] = xx[143];

  motionData[481] = xx[154];

  motionData[482] = xx[551];

  motionData[483] = xx[568];

  motionData[484] = xx[569];

  motionData[485] = xx[570];

  motionData[486] = xx[571];

  motionData[487] = xx[576];

  motionData[488] = xx[577];

  motionData[489] = xx[578];

  motionData[490] = xx[38] * xx[569] - xx[570] * xx[39];

  motionData[491] = xx[571] * xx[39] - xx[38] * xx[568];

  motionData[492] = xx[568] * xx[39] + xx[38] * xx[571];

  motionData[493] = - (xx[38] * xx[570] + xx[569] * xx[39]);

  motionData[494] = xx[576] - xx[34] * xx[579] * xx[39] + xx[42];

  motionData[495] = xx[577] - xx[34] * xx[579] * xx[38] - xx[43];

  motionData[496] = xx[578] - (xx[38] * xx[578] * xx[38] + xx[578] * xx[39] *

    xx[39]) * xx[34] + xx[45];

  motionData[497] = xx[582];

  motionData[498] = xx[583];

  motionData[499] = xx[584];

  motionData[500] = xx[585];

  motionData[501] = xx[581];

  motionData[502] = xx[1];

  motionData[503] = xx[586];

  motionData[504] = xx[587];

  motionData[505] = xx[588];

  motionData[506] = xx[589];

  motionData[507] = xx[590];

  motionData[508] = xx[580];

  motionData[509] = xx[597];

  motionData[510] = xx[594];

  motionData[511] = xx[595];

  motionData[512] = xx[596];

  motionData[513] = xx[598];

  motionData[514] = xx[599];

  motionData[515] = xx[603];

  motionData[516] = xx[604];

  motionData[517] = xx[600];

  motionData[518] = xx[609];

  motionData[519] = xx[610];

  motionData[520] = xx[611];

  motionData[521] = xx[612];

  motionData[522] = xx[601];

  motionData[523] = xx[602];

  motionData[524] = xx[605];

  motionData[525] = xx[613];

  motionData[526] = xx[614];

  motionData[527] = xx[615];

  motionData[528] = xx[616];

  motionData[529] = xx[617];

  motionData[530] = xx[618];

  motionData[531] = xx[606];

  motionData[532] = xx[72] * xx[613] - xx[616] * xx[75];

  motionData[533] = xx[72] * xx[614] + xx[615] * xx[75];

  motionData[534] = xx[72] * xx[615] - xx[614] * xx[75];

  motionData[535] = xx[613] * xx[75] + xx[72] * xx[616];

  motionData[536] = xx[619] + xx[617];

  motionData[537] = xx[620] + xx[618];

  motionData[538] = xx[621] + xx[606];

  motionData[539] = xx[0];

  motionData[540] = xx[0];

  motionData[541] = xx[0];

  motionData[542] = state[3];

  motionData[543] = state[4];

  motionData[544] = state[5];

  motionData[545] = xx[5];

  motionData[546] = xx[6];

  motionData[547] = xx[7];

  motionData[548] = xx[8];

  motionData[549] = xx[16];

  motionData[550] = xx[10];

  motionData[551] = xx[11];

  motionData[552] = xx[12];

  motionData[553] = xx[14];

  motionData[554] = xx[622];

  motionData[555] = xx[13];

  motionData[556] = xx[624];

  motionData[557] = xx[17];

  motionData[558] = xx[18];

  motionData[559] = xx[15];

  motionData[560] = xx[338];

  motionData[561] = xx[37];

  motionData[562] = xx[335];

  motionData[563] = xx[607];

  motionData[564] = xx[40];

  motionData[565] = xx[336];

  motionData[566] = xx[337];

  motionData[567] = xx[346];

  motionData[568] = xx[347];

  motionData[569] = xx[348];

  motionData[570] = xx[608];

  motionData[571] = xx[623];

  motionData[572] = xx[63];

  motionData[573] = xx[64];

  motionData[574] = xx[65];

  motionData[575] = xx[68];

  motionData[576] = xx[69];

  motionData[577] = xx[66];

  motionData[578] = xx[371];

  motionData[579] = xx[67];

  motionData[580] = xx[71];

  motionData[581] = xx[68] - (xx[82] * xx[361] + xx[362] * xx[83]) * xx[34];

  motionData[582] = xx[69] + xx[34] * (xx[82] * xx[362] - xx[361] * xx[83]);

  motionData[583] = xx[66] - state[33];

  motionData[584] = xx[363] - (xx[82] * xx[373] + xx[383] * xx[83]) * xx[34] -

    xx[81] * state[33];

  motionData[585] = xx[372] + xx[34] * (xx[82] * xx[383] - xx[373] * xx[83]) -

    xx[85] * state[33];

  motionData[586] = xx[627] + xx[71];

  motionData[587] = xx[628];

  motionData[588] = xx[629];

  motionData[589] = xx[630] + state[35];

  motionData[590] = xx[631] - xx[97] * state[35];

  motionData[591] = xx[632] + xx[93] * state[35];

  motionData[592] = xx[633];

  motionData[593] = xx[100];

  motionData[594] = xx[101];

  motionData[595] = xx[102] - state[37];

  motionData[596] = xx[634] + xx[111] * state[37];

  motionData[597] = xx[635] + xx[109] * state[37];

  motionData[598] = xx[636];

  motionData[599] = xx[118];

  motionData[600] = xx[119];

  motionData[601] = xx[120] - state[39];

  motionData[602] = xx[637] + xx[129] * state[39];

  motionData[603] = xx[638] - xx[127] * state[39];

  motionData[604] = xx[639];

  motionData[605] = xx[131];

  motionData[606] = xx[132];

  motionData[607] = xx[133] + state[41];

  motionData[608] = xx[640] + xx[144] * state[41];

  motionData[609] = xx[641] + xx[142] * state[41];

  motionData[610] = xx[642];

  motionData[611] = xx[146];

  motionData[612] = xx[147];

  motionData[613] = xx[103];

  motionData[614] = xx[643];

  motionData[615] = xx[121];

  motionData[616] = xx[645];

  motionData[617] = xx[148];

  motionData[618] = xx[149];

  motionData[619] = xx[134];

  motionData[620] = xx[544];

  motionData[621] = xx[171];

  motionData[622] = xx[384];

  motionData[623] = xx[591] + xx[543];

  motionData[624] = xx[592] + xx[548];

  motionData[625] = xx[593] + state[52];

  motionData[626] = xx[646] + xx[545];

  motionData[627] = xx[647] + xx[546];

  motionData[628] = xx[648] + xx[547];

  motionData[629] = xx[184];

  motionData[630] = xx[185];

  motionData[631] = xx[170];

  motionData[632] = xx[652];

  motionData[633] = xx[186];

  motionData[634] = xx[654];

  motionData[635] = xx[187];

  motionData[636] = xx[385];

  motionData[637] = xx[157];

  motionData[638] = xx[411];

  motionData[639] = xx[198];

  motionData[640] = xx[408];

  motionData[641] = xx[649] + xx[410];

  motionData[642] = xx[650] + xx[549];

  motionData[643] = xx[651] + state[63];

  motionData[644] = xx[655] + xx[412];

  motionData[645] = xx[656] + xx[413];

  motionData[646] = xx[657] + xx[414];

  motionData[647] = xx[212];

  motionData[648] = xx[213];

  motionData[649] = xx[197];

  motionData[650] = xx[661];

  motionData[651] = xx[214];

  motionData[652] = xx[663];

  motionData[653] = xx[324];

  motionData[654] = xx[325];

  motionData[655] = xx[215];

  motionData[656] = xx[329];

  motionData[657] = xx[233];

  motionData[658] = xx[326];

  motionData[659] = xx[664] + xx[328];

  motionData[660] = xx[665] + xx[330];

  motionData[661] = xx[666] + state[74];

  motionData[662] = xx[667] + xx[658];

  motionData[663] = xx[668] + xx[659];

  motionData[664] = xx[669] + xx[660];

  motionData[665] = xx[247];

  motionData[666] = xx[248];

  motionData[667] = xx[232];

  motionData[668] = xx[673];

  motionData[669] = xx[249];

  motionData[670] = xx[675];

  motionData[671] = xx[327];

  motionData[672] = xx[409];

  motionData[673] = xx[250];

  motionData[674] = xx[458];

  motionData[675] = xx[267];

  motionData[676] = xx[455];

  motionData[677] = xx[670] + xx[457];

  motionData[678] = xx[671] + xx[625];

  motionData[679] = xx[672] + state[85];

  motionData[680] = xx[676] + xx[459];

  motionData[681] = xx[677] + xx[460];

  motionData[682] = xx[678] + xx[461];

  motionData[683] = xx[280];

  motionData[684] = xx[281];

  motionData[685] = xx[264];

  motionData[686] = xx[682];

  motionData[687] = xx[282];

  motionData[688] = xx[684];

  motionData[689] = xx[283];

  motionData[690] = xx[456];

  motionData[691] = xx[28];

  motionData[692] = xx[503];

  motionData[693] = xx[300];

  motionData[694] = xx[500];

  motionData[695] = xx[685] + xx[502];

  motionData[696] = xx[686] + xx[626];

  motionData[697] = xx[687] + state[96];

  motionData[698] = xx[688] + xx[679];

  motionData[699] = xx[689] + xx[680];

  motionData[700] = xx[690] + xx[681];

}



static size_t computeAssemblyError_0(const double *rtdv, const double *state,

  const double *motionData, double *error)

{

  double xx[13];

  (void) rtdv;

  (void) state;

  xx[0] = motionData[231];

  xx[1] = motionData[232];

  xx[2] = motionData[233];

  xx[3] = motionData[234];

  xx[4] = - 7.599121945184391e-12;

  xx[5] = 5.036130209737022e-12;

  xx[6] = - 5.192027881355888e-12;

  pm_math_quatXform(xx + 0, xx + 4, xx + 7);

  xx[0] = motionData[196];

  xx[1] = motionData[197];

  xx[2] = motionData[198];

  xx[3] = motionData[199];

  xx[4] = 3.641924106626229e-8;

  xx[5] = 0.04574999999998041;

  xx[6] = 2.92603149291605e-7;

  pm_math_quatXform(xx + 0, xx + 4, xx + 10);

  error[0] = xx[7] + motionData[235] - (xx[10] + motionData[200]);

  error[1] = xx[8] + motionData[236] - (xx[11] + motionData[201]);

  error[2] = xx[9] + motionData[237] - (xx[12] + motionData[202]);

  return 3;

}



static size_t computeAssemblyError_1(const double *rtdv, const double *state,

  const double *motionData, double *error)

{

  double xx[13];

  (void) rtdv;

  (void) state;

  xx[0] = motionData[287];

  xx[1] = motionData[288];

  xx[2] = motionData[289];

  xx[3] = motionData[290];

  xx[4] = - 7.599121945184391e-12;

  xx[5] = 5.036130209737022e-12;

  xx[6] = - 5.192027881355888e-12;

  pm_math_quatXform(xx + 0, xx + 4, xx + 7);

  xx[0] = motionData[280];

  xx[1] = motionData[281];

  xx[2] = motionData[282];

  xx[3] = motionData[283];

  xx[4] = 3.641924106626229e-8;

  xx[5] = 0.04574999999998041;

  xx[6] = 2.92603149291605e-7;

  pm_math_quatXform(xx + 0, xx + 4, xx + 10);

  error[0] = xx[7] + motionData[291] - (xx[10] + motionData[284]);

  error[1] = xx[8] + motionData[292] - (xx[11] + motionData[285]);

  error[2] = xx[9] + motionData[293] - (xx[12] + motionData[286]);

  return 3;

}



static size_t computeAssemblyError_2(const double *rtdv, const double *state,

  const double *motionData, double *error)

{

  double xx[13];

  (void) rtdv;

  (void) state;

  xx[0] = motionData[343];

  xx[1] = motionData[344];

  xx[2] = motionData[345];

  xx[3] = motionData[346];

  xx[4] = - 7.599121945184391e-12;

  xx[5] = 5.036130209737022e-12;

  xx[6] = - 5.192027881355888e-12;

  pm_math_quatXform(xx + 0, xx + 4, xx + 7);

  xx[0] = motionData[336];

  xx[1] = motionData[337];

  xx[2] = motionData[338];

  xx[3] = motionData[339];

  xx[4] = 3.641924106626229e-8;

  xx[5] = 0.04574999999998041;

  xx[6] = 2.92603149291605e-7;

  pm_math_quatXform(xx + 0, xx + 4, xx + 10);

  error[0] = xx[7] + motionData[347] - (xx[10] + motionData[340]);

  error[1] = xx[8] + motionData[348] - (xx[11] + motionData[341]);

  error[2] = xx[9] + motionData[349] - (xx[12] + motionData[342]);

  return 3;

}



static size_t computeAssemblyError_3(const double *rtdv, const double *state,

  const double *motionData, double *error)

{

  double xx[13];

  (void) rtdv;

  (void) state;

  xx[0] = motionData[399];

  xx[1] = motionData[400];

  xx[2] = motionData[401];

  xx[3] = motionData[402];

  xx[4] = - 7.599121945184391e-12;

  xx[5] = 5.036130209737022e-12;

  xx[6] = - 5.192027881355888e-12;

  pm_math_quatXform(xx + 0, xx + 4, xx + 7);

  xx[0] = motionData[392];

  xx[1] = motionData[393];

  xx[2] = motionData[394];

  xx[3] = motionData[395];

  xx[4] = 3.641924106626229e-8;

  xx[5] = 0.04574999999998041;

  xx[6] = 2.92603149291605e-7;

  pm_math_quatXform(xx + 0, xx + 4, xx + 10);

  error[0] = xx[7] + motionData[403] - (xx[10] + motionData[396]);

  error[1] = xx[8] + motionData[404] - (xx[11] + motionData[397]);

  error[2] = xx[9] + motionData[405] - (xx[12] + motionData[398]);

  return 3;

}



static size_t computeAssemblyError_4(const double *rtdv, const double *state,

  const double *motionData, double *error)

{

  double xx[13];

  (void) rtdv;

  (void) state;

  xx[0] = motionData[455];

  xx[1] = motionData[456];

  xx[2] = motionData[457];

  xx[3] = motionData[458];

  xx[4] = - 7.599121945184391e-12;

  xx[5] = 5.036130209737022e-12;

  xx[6] = - 5.192027881355888e-12;

  pm_math_quatXform(xx + 0, xx + 4, xx + 7);

  xx[0] = motionData[448];

  xx[1] = motionData[449];

  xx[2] = motionData[450];

  xx[3] = motionData[451];

  xx[4] = 3.641924106626229e-8;

  xx[5] = 0.04574999999998041;

  xx[6] = 2.92603149291605e-7;

  pm_math_quatXform(xx + 0, xx + 4, xx + 10);

  error[0] = xx[7] + motionData[459] - (xx[10] + motionData[452]);

  error[1] = xx[8] + motionData[460] - (xx[11] + motionData[453]);

  error[2] = xx[9] + motionData[461] - (xx[12] + motionData[454]);

  return 3;

}



size_t PlatformAssem_f0ca4364_1_computeAssemblyError(const void *mech, const

  double *rtdv, size_t constraintIdx, const double *state, const double

  *motionData, double *error)

{

  (void) mech;

  (void)rtdv;

  (void) state;

  (void) motionData;

  (void) error;

  (void) state;

  switch (constraintIdx)

  {

   case 0:

    return computeAssemblyError_0(rtdv, state, motionData, error);



   case 1:

    return computeAssemblyError_1(rtdv, state, motionData, error);



   case 2:

    return computeAssemblyError_2(rtdv, state, motionData, error);



   case 3:

    return computeAssemblyError_3(rtdv, state, motionData, error);



   case 4:

    return computeAssemblyError_4(rtdv, state, motionData, error);

  }



  return 0;

}



static size_t computeAssemblyJacobian_0(const double *rtdv, const double *state,

  const double *motionData, double *J)

{

  double xx[165];

  (void) rtdv;

  xx[0] = 0.0;

  xx[1] = 0.3895853754265615;

  xx[2] = 0.5;

  xx[3] = xx[2] * state[12];

  xx[4] = cos(xx[3]);

  xx[5] = 0.389581900177037;

  xx[6] = sin(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = 0.5901074779979933;

  xx[8] = 0.5901036711621462;

  xx[9] = xx[7] * xx[4] + xx[8] * xx[6];

  xx[10] = - xx[9];

  xx[11] = xx[8] * xx[4] - xx[7] * xx[6];

  xx[7] = xx[5] * xx[4] + xx[1] * xx[6];

  xx[1] = - xx[7];

  xx[12] = xx[3];

  xx[13] = xx[10];

  xx[14] = xx[11];

  xx[15] = xx[1];

  xx[16] = motionData[266];

  xx[17] = motionData[267];

  xx[18] = motionData[268];

  xx[19] = motionData[269];

  pm_math_quatCompose(xx + 12, xx + 16, xx + 20);

  xx[4] = 2.0;

  xx[5] = 1.0;

  xx[12] = xx[4] * (motionData[266] * motionData[268] - motionData[267] *

                    motionData[269]);

  xx[13] = - ((motionData[266] * motionData[267] + motionData[268] * motionData

               [269]) * xx[4]);

  xx[14] = (motionData[267] * motionData[267] + motionData[268] * motionData[268])

    * xx[4] - xx[5];

  xx[6] = 7.599121945184391e-12;

  xx[8] = 5.036130209737022e-12;

  xx[15] = 5.192027881355888e-12;

  xx[16] = - xx[6];

  xx[17] = xx[8];

  xx[18] = - xx[15];

  pm_math_cross3(xx + 12, xx + 16, xx + 24);

  pm_math_quatXform(xx + 20, xx + 24, xx + 12);

  xx[19] = xx[10];

  xx[20] = xx[11];

  xx[21] = xx[1];

  xx[1] = xx[7] * motionData[270];

  xx[10] = xx[7] * motionData[271];

  xx[22] = xx[11] * motionData[271] - xx[9] * motionData[270];

  xx[23] = - xx[1];

  xx[24] = - xx[10];

  xx[25] = - xx[22];

  pm_math_cross3(xx + 19, xx + 23, xx + 26);

  xx[19] = 0.02520954632904373;

  xx[20] = xx[19] * xx[9];

  xx[21] = xx[19] * xx[7];

  xx[23] = xx[2] * state[14];

  xx[24] = cos(xx[23]);

  xx[25] = sin(xx[23]);

  xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16];

  xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]);

  xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17];

  xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16];

  xx[33] = motionData[259];

  xx[34] = motionData[260];

  xx[35] = motionData[261];

  xx[36] = motionData[262];

  pm_math_quatCompose(xx + 29, xx + 33, xx + 37);

  xx[29] = xx[4] * (motionData[260] * motionData[262] - motionData[259] *

                    motionData[261]);

  xx[30] = (motionData[259] * motionData[260] + motionData[261] * motionData[262])

    * xx[4];

  xx[31] = xx[5] - (motionData[260] * motionData[260] + motionData[261] *

                    motionData[261]) * xx[4];

  pm_math_cross3(xx + 29, xx + 16, xx + 32);

  pm_math_quatXform(xx + 37, xx + 32, xx + 29);

  xx[23] = xx[25] * motionData[264] - xx[24] * motionData[263];

  xx[32] = 7.748428954013064e-12;

  xx[33] = 5.376764528053357e-12;

  xx[34] = xx[32] * xx[24] - xx[33] * xx[25];

  xx[35] = xx[4] * xx[25] * xx[23] - (motionData[264] + xx[4] * xx[34] * xx[25])

    - xx[33];

  xx[36] = motionData[15];

  xx[37] = motionData[16];

  xx[38] = motionData[17];

  xx[25] = motionData[263] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] +

    xx[32];

  xx[23] = xx[25] * motionData[17];

  xx[24] = xx[35] * motionData[17];

  xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16];

  xx[39] = - xx[23];

  xx[40] = xx[24];

  xx[41] = xx[32];

  pm_math_cross3(xx + 36, xx + 39, xx + 42);

  xx[36] = motionData[203];

  xx[37] = motionData[204];

  xx[38] = motionData[205];

  xx[39] = motionData[206];

  xx[33] = 3.980251324392935e-7;

  xx[34] = 0.999999999999921;

  xx[40] = xx[33] * state[19] - xx[34] * state[16];

  xx[41] = xx[33] * state[18] + xx[34] * state[17];

  xx[45] = - xx[41];

  xx[46] = xx[34] * state[18] - xx[33] * state[17];

  xx[47] = - xx[46];

  xx[48] = xx[33] * state[16] + xx[34] * state[19];

  xx[49] = - xx[48];

  xx[50] = xx[40];

  xx[51] = xx[45];

  xx[52] = xx[47];

  xx[53] = xx[49];

  pm_math_quatCompose(xx + 36, xx + 50, xx + 54);

  xx[58] = motionData[252];

  xx[59] = motionData[253];

  xx[60] = motionData[254];

  xx[61] = motionData[255];

  pm_math_quatCompose(xx + 54, xx + 58, xx + 62);

  xx[54] = motionData[253];

  xx[55] = motionData[254];

  xx[56] = motionData[255];

  xx[57] = 7.960502648785241e-7;

  xx[58] = xx[57] * motionData[255];

  xx[59] = xx[57] * motionData[253] + motionData[254];

  xx[66] = xx[58];

  xx[67] = motionData[255];

  xx[68] = - xx[59];

  pm_math_cross3(xx + 54, xx + 66, xx + 69);

  xx[60] = motionData[252] * motionData[255];

  xx[66] = xx[5] + (xx[69] - xx[58] * motionData[252]) * xx[4];

  xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57];

  xx[68] = xx[4] * (xx[71] + xx[59] * motionData[252]);

  pm_math_cross3(xx + 66, xx + 16, xx + 69);

  pm_math_quatXform(xx + 62, xx + 69, xx + 66);

  xx[59] = - (xx[57] * motionData[258]);

  xx[69] = xx[59];

  xx[70] = - motionData[258];

  xx[71] = motionData[257] + xx[57] * motionData[256];

  pm_math_quatXform(xx + 50, xx + 69, xx + 72);

  xx[61] = 2.329280111075767e-13;

  xx[69] = 2.926046524751139e-7;

  xx[75] = xx[61];

  xx[76] = xx[69];

  xx[77] = 0.04575000000718987;

  pm_math_quatXform(xx + 50, xx + 75, xx + 78);

  xx[81] = xx[72] + xx[78];

  xx[82] = xx[73] + xx[79];

  xx[83] = xx[74] + xx[80];

  pm_math_quatXform(xx + 36, xx + 81, xx + 70);

  xx[73] = motionData[253] - xx[57] * motionData[254];

  xx[78] = - motionData[255];

  xx[79] = xx[58];

  xx[80] = xx[73];

  pm_math_cross3(xx + 54, xx + 78, xx + 81);

  xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4];

  xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]);

  xx[56] = xx[4] * (xx[83] - xx[73] * motionData[252]);

  pm_math_cross3(xx + 54, xx + 16, xx + 78);

  pm_math_quatXform(xx + 62, xx + 78, xx + 54);

  xx[78] = motionData[258];

  xx[79] = xx[59];

  xx[80] = xx[57] * motionData[257] - motionData[256];

  pm_math_quatXform(xx + 50, xx + 78, xx + 57);

  xx[78] = - xx[69];

  xx[79] = xx[61];

  xx[80] = 7.670997177269469e-12;

  pm_math_quatXform(xx + 50, xx + 78, xx + 81);

  xx[50] = xx[57] + xx[81];

  xx[51] = xx[58] + xx[82];

  xx[52] = xx[59] + xx[83];

  pm_math_quatXform(xx + 36, xx + 50, xx + 57);

  xx[50] = xx[4] * (motionData[253] * motionData[255] - motionData[252] *

                    motionData[254]);

  xx[51] = (motionData[252] * motionData[253] + motionData[254] * motionData[255])

    * xx[4];

  xx[52] = xx[5] - (motionData[253] * motionData[253] + motionData[254] *

                    motionData[254]) * xx[4];

  pm_math_cross3(xx + 50, xx + 16, xx + 81);

  pm_math_quatXform(xx + 62, xx + 81, xx + 50);

  xx[60] = xx[45];

  xx[61] = xx[47];

  xx[62] = xx[49];

  xx[45] = xx[48] * motionData[256];

  xx[47] = xx[48] * motionData[257];

  xx[49] = xx[41] * motionData[256] + xx[46] * motionData[257];

  xx[63] = xx[45];

  xx[64] = xx[47];

  xx[65] = - xx[49];

  pm_math_cross3(xx + 60, xx + 63, xx + 81);

  xx[53] = 3.641162862673871e-8;

  xx[63] = xx[53] * xx[48];

  xx[64] = 0.04575000000717538;

  xx[65] = xx[64] * xx[48];

  xx[48] = xx[53] * xx[41] + xx[46] * xx[64];

  xx[84] = xx[63];

  xx[85] = xx[65];

  xx[86] = - xx[48];

  pm_math_cross3(xx + 60, xx + 84, xx + 87);

  xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40])

    - motionData[257] - xx[64];

  xx[61] = motionData[256] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx

    [40] + xx[88]) * xx[4] + xx[53];

  xx[62] = (xx[83] - xx[49] * xx[40]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 60, xx + 45);

  xx[36] = motionData[210];

  xx[37] = motionData[211];

  xx[38] = motionData[212];

  xx[39] = motionData[213];

  xx[40] = 3.980251340548381e-7;

  xx[41] = xx[34] * state[26] - xx[40] * state[23];

  xx[48] = xx[34] * state[25] - xx[40] * state[24];

  xx[49] = xx[40] * state[25] + xx[34] * state[24];

  xx[60] = - xx[49];

  xx[61] = xx[40] * state[26] + xx[34] * state[23];

  xx[40] = - xx[61];

  xx[81] = xx[41];

  xx[82] = xx[48];

  xx[83] = xx[60];

  xx[84] = xx[40];

  pm_math_quatCompose(xx + 36, xx + 81, xx + 85);

  xx[81] = motionData[245];

  xx[82] = motionData[246];

  xx[83] = motionData[247];

  xx[84] = motionData[248];

  pm_math_quatCompose(xx + 85, xx + 81, xx + 89);

  xx[62] = motionData[247] * motionData[247];

  xx[63] = motionData[248] * motionData[248];

  xx[65] = motionData[246] * motionData[247];

  xx[69] = motionData[245] * motionData[248];

  xx[73] = motionData[245] * motionData[247];

  xx[74] = motionData[246] * motionData[248];

  xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4];

  xx[82] = xx[4] * (xx[65] - xx[69]);

  xx[83] = (xx[73] + xx[74]) * xx[4];

  pm_math_cross3(xx + 81, xx + 16, xx + 84);

  pm_math_quatXform(xx + 89, xx + 84, xx + 81);

  xx[84] = xx[48];

  xx[85] = xx[60];

  xx[86] = xx[40];

  xx[40] = xx[49] * motionData[250];

  xx[60] = xx[61] * motionData[251];

  xx[87] = xx[40] + xx[60];

  xx[88] = xx[48] * motionData[250];

  xx[93] = xx[48] * motionData[251];

  xx[94] = - xx[87];

  xx[95] = - xx[88];

  xx[96] = - xx[93];

  pm_math_cross3(xx + 84, xx + 94, xx + 97);

  xx[94] = xx[49] * xx[8];

  xx[95] = xx[61] * xx[15];

  xx[96] = xx[94] - xx[95];

  xx[100] = xx[8] * xx[48];

  xx[101] = xx[15] * xx[48];

  xx[102] = xx[96];

  xx[103] = xx[100];

  xx[104] = - xx[101];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) *

    xx[4];

  xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] *

    xx[41]) - motionData[251] - xx[15];

  xx[104] = motionData[250] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] -

    xx[101] * xx[41]) * xx[4] - xx[8];

  pm_math_quatXform(xx + 36, xx + 102, xx + 96);

  xx[87] = motionData[246] * motionData[246];

  xx[88] = motionData[247] * motionData[248];

  xx[93] = motionData[245] * motionData[246];

  xx[99] = (xx[69] + xx[65]) * xx[4];

  xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4];

  xx[101] = xx[4] * (xx[88] - xx[93]);

  pm_math_cross3(xx + 99, xx + 16, xx + 102);

  pm_math_quatXform(xx + 89, xx + 102, xx + 99);

  xx[63] = xx[49] * motionData[249];

  xx[65] = xx[48] * motionData[249];

  xx[69] = xx[65] - xx[60];

  xx[60] = xx[49] * motionData[251];

  xx[102] = xx[63];

  xx[103] = xx[69];

  xx[104] = xx[60];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[49] * xx[6];

  xx[103] = xx[6] * xx[48];

  xx[48] = xx[95] - xx[103];

  xx[95] = xx[49] * xx[15];

  xx[108] = xx[102];

  xx[109] = - xx[48];

  xx[110] = xx[95];

  pm_math_cross3(xx + 84, xx + 108, xx + 111);

  xx[108] = motionData[251] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx

    [111] + xx[102] * xx[41]) + xx[15];

  xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] *

    xx[41]);

  xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) *

    xx[4] - motionData[249] - xx[6];

  pm_math_quatXform(xx + 36, xx + 108, xx + 104);

  xx[107] = xx[4] * (xx[74] - xx[73]);

  xx[108] = (xx[93] + xx[88]) * xx[4];

  xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4];

  pm_math_cross3(xx + 107, xx + 16, xx + 110);

  pm_math_quatXform(xx + 89, xx + 110, xx + 107);

  xx[15] = xx[61] * motionData[249];

  xx[48] = xx[61] * motionData[250];

  xx[49] = xx[65] - xx[40];

  xx[87] = xx[15];

  xx[88] = xx[48];

  xx[89] = xx[49];

  pm_math_cross3(xx + 84, xx + 87, xx + 90);

  xx[40] = xx[61] * xx[6];

  xx[60] = xx[61] * xx[8];

  xx[61] = xx[103] + xx[94];

  xx[87] = xx[40];

  xx[88] = - xx[60];

  xx[89] = xx[61];

  pm_math_cross3(xx + 84, xx + 87, xx + 93);

  xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx

    [4] - motionData[250] + xx[8];

  xx[85] = motionData[249] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94]

    - xx[60] * xx[41]) + xx[6];

  xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 84, xx + 60);

  xx[15] = xx[2] * state[30];

  xx[36] = cos(xx[15]);

  xx[37] = sin(xx[15]);

  xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220];

  xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219];

  xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218];

  xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220];

  xx[84] = motionData[49];

  xx[85] = motionData[50];

  xx[86] = motionData[51];

  xx[87] = motionData[52];

  pm_math_quatCompose(xx + 38, xx + 84, xx + 88);

  xx[38] = xx[4] * (motionData[50] * motionData[52] - motionData[49] *

                    motionData[51]);

  xx[39] = (motionData[49] * motionData[50] + motionData[51] * motionData[52]) *

    xx[4];

  xx[40] = xx[5] - (motionData[50] * motionData[50] + motionData[51] *

                    motionData[51]) * xx[4];

  pm_math_cross3(xx + 38, xx + 16, xx + 84);

  pm_math_quatXform(xx + 88, xx + 84, xx + 15);

  xx[18] = xx[37] * motionData[54];

  xx[38] = xx[37] * motionData[53];

  xx[39] = 0.02540000000000185;

  xx[40] = xx[39] * xx[37];

  xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[54] + xx[4] *

    xx[36] * xx[40];

  xx[84] = motionData[218];

  xx[85] = motionData[219];

  xx[86] = motionData[220];

  xx[48] = motionData[53] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4]

    * xx[40] * xx[37]) - xx[39];

  xx[18] = xx[48] * motionData[220];

  xx[36] = xx[41] * motionData[220];

  xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219];

  xx[38] = - xx[18];

  xx[39] = xx[36];

  xx[40] = xx[37];

  pm_math_cross3(xx + 84, xx + 38, xx + 87);

  xx[38] = xx[2] * state[32];

  xx[39] = cos(xx[38]);

  xx[40] = sin(xx[38]);

  xx[38] = xx[39] * motionData[225] - xx[40] * motionData[226];

  xx[49] = xx[39] * motionData[226] + xx[40] * motionData[225];

  xx[63] = xx[39] * motionData[227] - xx[40] * motionData[224];

  xx[84] = xx[38];

  xx[85] = xx[49];

  xx[86] = xx[63];

  xx[65] = xx[6] * xx[63];

  xx[69] = xx[8] * xx[63];

  xx[63] = xx[6] * xx[38] - xx[49] * xx[8];

  xx[90] = - xx[65];

  xx[91] = xx[69];

  xx[92] = xx[63];

  pm_math_cross3(xx + 84, xx + 90, xx + 93);

  xx[38] = xx[39] * motionData[224] + xx[40] * motionData[227];

  xx[49] = 2.191920996097441e-12;

  xx[73] = xx[49] * xx[40];

  xx[74] = 3.368449963403463e-13;

  xx[84] = xx[74] * xx[40];

  xx[85] = xx[4] * (xx[73] * xx[40] - xx[39] * xx[84]) - xx[49];

  xx[90] = motionData[225];

  xx[91] = motionData[226];

  xx[92] = motionData[227];

  xx[49] = (xx[39] * xx[73] + xx[84] * xx[40]) * xx[4] - xx[74];

  xx[39] = xx[49] * motionData[227];

  xx[40] = xx[85] * motionData[227];

  xx[73] = xx[49] * motionData[225] - xx[85] * motionData[226];

  xx[110] = - xx[39];

  xx[111] = xx[40];

  xx[112] = xx[73];

  pm_math_cross3(xx + 90, xx + 110, xx + 113);

  xx[74] = 0.389585375426561;

  xx[84] = xx[2] * state[64];

  xx[86] = cos(xx[84]);

  xx[90] = 0.3895819001770367;

  xx[91] = sin(xx[84]);

  xx[84] = xx[74] * xx[86] - xx[90] * xx[91];

  xx[92] = 0.5901074779979936;

  xx[102] = 0.5901036711621467;

  xx[103] = xx[92] * xx[86] + xx[102] * xx[91];

  xx[110] = - xx[103];

  xx[111] = xx[102] * xx[86] - xx[92] * xx[91];

  xx[92] = xx[90] * xx[86] + xx[74] * xx[91];

  xx[74] = - xx[92];

  xx[116] = xx[84];

  xx[117] = xx[110];

  xx[118] = xx[111];

  xx[119] = xx[74];

  xx[120] = motionData[238];

  xx[121] = motionData[239];

  xx[122] = motionData[240];

  xx[123] = motionData[241];

  pm_math_quatCompose(xx + 116, xx + 120, xx + 124);

  xx[116] = xx[4] * (motionData[238] * motionData[240] - motionData[239] *

                     motionData[241]);

  xx[117] = - ((motionData[238] * motionData[239] + motionData[240] *

                motionData[241]) * xx[4]);

  xx[118] = (motionData[239] * motionData[239] + motionData[240] * motionData

             [240]) * xx[4] - xx[5];

  xx[86] = 3.641924106626229e-8;

  xx[90] = 0.04574999999998041;

  xx[91] = 2.92603149291605e-7;

  xx[119] = xx[86];

  xx[120] = xx[90];

  xx[121] = xx[91];

  pm_math_cross3(xx + 116, xx + 119, xx + 128);

  pm_math_quatXform(xx + 124, xx + 128, xx + 116);

  xx[122] = xx[110];

  xx[123] = xx[111];

  xx[124] = xx[74];

  xx[74] = xx[92] * motionData[242];

  xx[102] = xx[92] * motionData[243];

  xx[110] = xx[111] * motionData[243] - xx[103] * motionData[242];

  xx[125] = - xx[74];

  xx[126] = - xx[102];

  xx[127] = - xx[110];

  pm_math_cross3(xx + 122, xx + 125, xx + 128);

  xx[112] = xx[19] * xx[103];

  xx[122] = xx[19] * xx[92];

  xx[123] = xx[2] * state[66];

  xx[2] = cos(xx[123]);

  xx[124] = sin(xx[123]);

  xx[131] = xx[2] * motionData[127] - xx[124] * motionData[128];

  xx[132] = - (xx[2] * motionData[126] + xx[124] * motionData[129]);

  xx[133] = xx[124] * motionData[126] - xx[2] * motionData[129];

  xx[134] = xx[124] * motionData[127] + xx[2] * motionData[128];

  xx[135] = motionData[140];

  xx[136] = motionData[141];

  xx[137] = motionData[142];

  xx[138] = motionData[143];

  pm_math_quatCompose(xx + 131, xx + 135, xx + 139);

  xx[125] = xx[4] * (motionData[141] * motionData[143] - motionData[140] *

                     motionData[142]);

  xx[126] = (motionData[140] * motionData[141] + motionData[142] * motionData

             [143]) * xx[4];

  xx[127] = xx[5] - (motionData[141] * motionData[141] + motionData[142] *

                     motionData[142]) * xx[4];

  pm_math_cross3(xx + 125, xx + 119, xx + 131);

  pm_math_quatXform(xx + 139, xx + 131, xx + 119);

  xx[5] = xx[124] * motionData[145] - xx[2] * motionData[144];

  xx[123] = 6.924287580811761e-12;

  xx[125] = 1.024070757638107e-11;

  xx[126] = xx[123] * xx[124] - xx[125] * xx[2];

  xx[127] = xx[4] * xx[124] * xx[5] - (motionData[145] + xx[4] * xx[126] * xx

    [124]) + xx[123];

  xx[131] = motionData[127];

  xx[132] = motionData[128];

  xx[133] = motionData[129];

  xx[123] = motionData[144] + xx[4] * xx[2] * xx[5] - xx[4] * xx[126] * xx[2] -

    xx[125];

  xx[2] = xx[123] * motionData[129];

  xx[5] = xx[127] * motionData[129];

  xx[124] = xx[123] * motionData[127] - xx[127] * motionData[128];

  xx[134] = - xx[2];

  xx[135] = xx[5];

  xx[136] = xx[124];

  pm_math_cross3(xx + 131, xx + 134, xx + 137);

  xx[131] = motionData[189];

  xx[132] = motionData[190];

  xx[133] = motionData[191];

  xx[134] = motionData[192];

  xx[125] = xx[33] * state[71] - xx[34] * state[68];

  xx[126] = xx[33] * state[70] + xx[34] * state[69];

  xx[135] = - xx[126];

  xx[136] = xx[34] * state[70] - xx[33] * state[69];

  xx[140] = - xx[136];

  xx[141] = xx[33] * state[68] + xx[34] * state[71];

  xx[33] = - xx[141];

  xx[142] = xx[125];

  xx[143] = xx[135];

  xx[144] = xx[140];

  xx[145] = xx[33];

  pm_math_quatCompose(xx + 131, xx + 142, xx + 146);

  xx[34] = - 2.329268144978725e-13;

  xx[150] = xx[34];

  xx[151] = - xx[91];

  xx[152] = 0.0457500000000094;

  pm_math_quatXform(xx + 146, xx + 150, xx + 153);

  pm_math_quatXform(xx + 142, xx + 75, xx + 150);

  pm_math_quatXform(xx + 131, xx + 150, xx + 75);

  xx[150] = xx[91];

  xx[151] = xx[34];

  xx[152] = 5.855191459023036e-14;

  pm_math_quatXform(xx + 146, xx + 150, xx + 156);

  pm_math_quatXform(xx + 142, xx + 78, xx + 150);

  pm_math_quatXform(xx + 131, xx + 150, xx + 78);

  xx[34] = xx[86] * xx[149];

  xx[91] = xx[86] * xx[147] + xx[90] * xx[148];

  xx[142] = - xx[34];

  xx[143] = - (xx[90] * xx[149]);

  xx[144] = xx[91];

  pm_math_cross3(xx + 147, xx + 142, xx + 150);

  xx[142] = xx[135];

  xx[143] = xx[140];

  xx[144] = xx[33];

  xx[33] = xx[53] * xx[141];

  xx[135] = xx[64] * xx[141];

  xx[140] = xx[53] * xx[126] + xx[136] * xx[64];

  xx[159] = xx[33];

  xx[160] = xx[135];

  xx[161] = - xx[140];

  pm_math_cross3(xx + 142, xx + 159, xx + 162);

  xx[141] = xx[4] * (xx[162] + xx[33] * xx[125]) - xx[64];

  xx[142] = xx[53] + (xx[135] * xx[125] + xx[163]) * xx[4];

  xx[143] = (xx[164] - xx[140] * xx[125]) * xx[4];

  pm_math_quatXform(xx + 131, xx + 141, xx + 159);

  J[6] = xx[12] + motionData[271] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] *

    (xx[11] * xx[20] - xx[3] * xx[21]);

  J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]);

  J[8] = xx[66] + xx[70];

  J[9] = xx[54] + xx[57];

  J[10] = xx[50] + xx[45];

  J[11] = xx[81] + xx[96];

  J[12] = xx[99] + xx[104];

  J[13] = xx[107] + xx[60];

  J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]);

  J[15] = xx[4] * (xx[93] - xx[38] * xx[65]) + xx[85] + xx[4] * (xx[113] - xx[39]

    * motionData[224]) + xx[8];

  J[30] = - (xx[116] + motionData[243] + (xx[128] - xx[84] * xx[74]) * xx[4] +

             xx[4] * (xx[111] * xx[112] - xx[84] * xx[122]));

  J[31] = - (xx[119] + xx[127] + xx[4] * (xx[137] - xx[2] * motionData[126]));

  J[32] = - (xx[153] + xx[75]);

  J[33] = - (xx[156] + xx[78]);

  J[34] = - (xx[4] * (xx[150] - xx[146] * xx[34]) + xx[159] - xx[90]);

  J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[270] - (xx[21]

    * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19];

  J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4];

  J[53] = xx[67] + xx[71];

  J[54] = xx[55] + xx[58];

  J[55] = xx[51] + xx[46];

  J[56] = xx[82] + xx[97];

  J[57] = xx[100] + xx[105];

  J[58] = xx[108] + xx[61];

  J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4];

  J[60] = (xx[38] * xx[69] + xx[94]) * xx[4] + xx[49] + (xx[40] * motionData[224]

    + xx[114]) * xx[4] + xx[6];

  J[75] = - (xx[117] + (xx[129] - xx[84] * xx[102]) * xx[4] - (motionData[242] -

              (xx[122] * xx[92] + xx[112] * xx[103]) * xx[4]) - xx[19]);

  J[76] = - (xx[120] + xx[123] + (xx[5] * motionData[126] + xx[138]) * xx[4]);

  J[77] = - (xx[154] + xx[76]);

  J[78] = - (xx[157] + xx[79]);

  J[79] = - ((xx[151] - xx[90] * xx[146] * xx[149]) * xx[4] + xx[160] + xx[86]);

  J[96] = xx[14] + xx[4] * (xx[28] - xx[3] * xx[22]) + (xx[3] * xx[20] + xx[11] *

    xx[21]) * xx[4];

  J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4];

  J[98] = xx[68] + xx[72];

  J[99] = xx[56] + xx[59];

  J[100] = xx[52] + xx[47];

  J[101] = xx[83] + xx[98];

  J[102] = xx[101] + xx[106];

  J[103] = xx[109] + xx[62];

  J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4];

  J[105] = (xx[38] * xx[63] + xx[95]) * xx[4] + (xx[73] * motionData[224] + xx

    [115]) * xx[4];

  J[120] = - (xx[118] + xx[4] * (xx[130] - xx[84] * xx[110]) + (xx[84] * xx[112]

    + xx[111] * xx[122]) * xx[4]);

  J[121] = - (xx[121] + (xx[124] * motionData[126] + xx[139]) * xx[4]);

  J[122] = - (xx[155] + xx[77]);

  J[123] = - (xx[158] + xx[80]);

  J[124] = - ((xx[146] * xx[91] + xx[152]) * xx[4] + xx[161]);

  return 3;

}



static size_t computeAssemblyJacobian_1(const double *rtdv, const double *state,

  const double *motionData, double *J)

{

  double xx[160];

  (void) rtdv;

  xx[0] = 0.0;

  xx[1] = 0.3895853754265615;

  xx[2] = 0.5;

  xx[3] = xx[2] * state[12];

  xx[4] = cos(xx[3]);

  xx[5] = 0.389581900177037;

  xx[6] = sin(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = 0.5901074779979933;

  xx[8] = 0.5901036711621462;

  xx[9] = xx[7] * xx[4] + xx[8] * xx[6];

  xx[10] = - xx[9];

  xx[11] = xx[8] * xx[4] - xx[7] * xx[6];

  xx[7] = xx[5] * xx[4] + xx[1] * xx[6];

  xx[1] = - xx[7];

  xx[12] = xx[3];

  xx[13] = xx[10];

  xx[14] = xx[11];

  xx[15] = xx[1];

  xx[16] = motionData[322];

  xx[17] = motionData[323];

  xx[18] = motionData[324];

  xx[19] = motionData[325];

  pm_math_quatCompose(xx + 12, xx + 16, xx + 20);

  xx[4] = 2.0;

  xx[5] = 1.0;

  xx[12] = xx[4] * (motionData[322] * motionData[324] - motionData[323] *

                    motionData[325]);

  xx[13] = - ((motionData[322] * motionData[323] + motionData[324] * motionData

               [325]) * xx[4]);

  xx[14] = (motionData[323] * motionData[323] + motionData[324] * motionData[324])

    * xx[4] - xx[5];

  xx[6] = 7.599121945184391e-12;

  xx[8] = 5.036130209737022e-12;

  xx[15] = 5.192027881355888e-12;

  xx[16] = - xx[6];

  xx[17] = xx[8];

  xx[18] = - xx[15];

  pm_math_cross3(xx + 12, xx + 16, xx + 24);

  pm_math_quatXform(xx + 20, xx + 24, xx + 12);

  xx[19] = xx[10];

  xx[20] = xx[11];

  xx[21] = xx[1];

  xx[1] = xx[7] * motionData[326];

  xx[10] = xx[7] * motionData[327];

  xx[22] = xx[11] * motionData[327] - xx[9] * motionData[326];

  xx[23] = - xx[1];

  xx[24] = - xx[10];

  xx[25] = - xx[22];

  pm_math_cross3(xx + 19, xx + 23, xx + 26);

  xx[19] = 0.02520954632904373;

  xx[20] = xx[19] * xx[9];

  xx[21] = xx[19] * xx[7];

  xx[23] = xx[2] * state[14];

  xx[24] = cos(xx[23]);

  xx[25] = sin(xx[23]);

  xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16];

  xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]);

  xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17];

  xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16];

  xx[33] = motionData[315];

  xx[34] = motionData[316];

  xx[35] = motionData[317];

  xx[36] = motionData[318];

  pm_math_quatCompose(xx + 29, xx + 33, xx + 37);

  xx[29] = xx[4] * (motionData[316] * motionData[318] - motionData[315] *

                    motionData[317]);

  xx[30] = (motionData[315] * motionData[316] + motionData[317] * motionData[318])

    * xx[4];

  xx[31] = xx[5] - (motionData[316] * motionData[316] + motionData[317] *

                    motionData[317]) * xx[4];

  pm_math_cross3(xx + 29, xx + 16, xx + 32);

  pm_math_quatXform(xx + 37, xx + 32, xx + 29);

  xx[23] = xx[25] * motionData[320] - xx[24] * motionData[319];

  xx[32] = 7.748428954013064e-12;

  xx[33] = 5.376764528053357e-12;

  xx[34] = xx[32] * xx[24] - xx[33] * xx[25];

  xx[35] = xx[4] * xx[25] * xx[23] - (motionData[320] + xx[4] * xx[34] * xx[25])

    - xx[33];

  xx[36] = motionData[15];

  xx[37] = motionData[16];

  xx[38] = motionData[17];

  xx[25] = motionData[319] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] +

    xx[32];

  xx[23] = xx[25] * motionData[17];

  xx[24] = xx[35] * motionData[17];

  xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16];

  xx[39] = - xx[23];

  xx[40] = xx[24];

  xx[41] = xx[32];

  pm_math_cross3(xx + 36, xx + 39, xx + 42);

  xx[36] = motionData[203];

  xx[37] = motionData[204];

  xx[38] = motionData[205];

  xx[39] = motionData[206];

  xx[33] = 3.980251324392935e-7;

  xx[34] = 0.999999999999921;

  xx[40] = xx[33] * state[19] - xx[34] * state[16];

  xx[41] = xx[33] * state[18] + xx[34] * state[17];

  xx[45] = - xx[41];

  xx[46] = xx[34] * state[18] - xx[33] * state[17];

  xx[47] = - xx[46];

  xx[48] = xx[33] * state[16] + xx[34] * state[19];

  xx[49] = - xx[48];

  xx[50] = xx[40];

  xx[51] = xx[45];

  xx[52] = xx[47];

  xx[53] = xx[49];

  pm_math_quatCompose(xx + 36, xx + 50, xx + 54);

  xx[58] = motionData[308];

  xx[59] = motionData[309];

  xx[60] = motionData[310];

  xx[61] = motionData[311];

  pm_math_quatCompose(xx + 54, xx + 58, xx + 62);

  xx[54] = motionData[309];

  xx[55] = motionData[310];

  xx[56] = motionData[311];

  xx[57] = 7.960502648785241e-7;

  xx[58] = xx[57] * motionData[311];

  xx[59] = xx[57] * motionData[309] + motionData[310];

  xx[66] = xx[58];

  xx[67] = motionData[311];

  xx[68] = - xx[59];

  pm_math_cross3(xx + 54, xx + 66, xx + 69);

  xx[60] = motionData[308] * motionData[311];

  xx[66] = xx[5] + (xx[69] - xx[58] * motionData[308]) * xx[4];

  xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57];

  xx[68] = xx[4] * (xx[71] + xx[59] * motionData[308]);

  pm_math_cross3(xx + 66, xx + 16, xx + 69);

  pm_math_quatXform(xx + 62, xx + 69, xx + 66);

  xx[59] = - (xx[57] * motionData[314]);

  xx[69] = xx[59];

  xx[70] = - motionData[314];

  xx[71] = motionData[313] + xx[57] * motionData[312];

  pm_math_quatXform(xx + 50, xx + 69, xx + 72);

  xx[61] = 2.329280111075767e-13;

  xx[69] = 2.926046524751139e-7;

  xx[75] = xx[61];

  xx[76] = xx[69];

  xx[77] = 0.04575000000718987;

  pm_math_quatXform(xx + 50, xx + 75, xx + 78);

  xx[81] = xx[72] + xx[78];

  xx[82] = xx[73] + xx[79];

  xx[83] = xx[74] + xx[80];

  pm_math_quatXform(xx + 36, xx + 81, xx + 70);

  xx[73] = motionData[309] - xx[57] * motionData[310];

  xx[78] = - motionData[311];

  xx[79] = xx[58];

  xx[80] = xx[73];

  pm_math_cross3(xx + 54, xx + 78, xx + 81);

  xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4];

  xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]);

  xx[56] = xx[4] * (xx[83] - xx[73] * motionData[308]);

  pm_math_cross3(xx + 54, xx + 16, xx + 78);

  pm_math_quatXform(xx + 62, xx + 78, xx + 54);

  xx[78] = motionData[314];

  xx[79] = xx[59];

  xx[80] = xx[57] * motionData[313] - motionData[312];

  pm_math_quatXform(xx + 50, xx + 78, xx + 57);

  xx[78] = - xx[69];

  xx[79] = xx[61];

  xx[80] = 7.670997177269469e-12;

  pm_math_quatXform(xx + 50, xx + 78, xx + 81);

  xx[50] = xx[57] + xx[81];

  xx[51] = xx[58] + xx[82];

  xx[52] = xx[59] + xx[83];

  pm_math_quatXform(xx + 36, xx + 50, xx + 57);

  xx[50] = xx[4] * (motionData[309] * motionData[311] - motionData[308] *

                    motionData[310]);

  xx[51] = (motionData[308] * motionData[309] + motionData[310] * motionData[311])

    * xx[4];

  xx[52] = xx[5] - (motionData[309] * motionData[309] + motionData[310] *

                    motionData[310]) * xx[4];

  pm_math_cross3(xx + 50, xx + 16, xx + 81);

  pm_math_quatXform(xx + 62, xx + 81, xx + 50);

  xx[60] = xx[45];

  xx[61] = xx[47];

  xx[62] = xx[49];

  xx[45] = xx[48] * motionData[312];

  xx[47] = xx[48] * motionData[313];

  xx[49] = xx[41] * motionData[312] + xx[46] * motionData[313];

  xx[63] = xx[45];

  xx[64] = xx[47];

  xx[65] = - xx[49];

  pm_math_cross3(xx + 60, xx + 63, xx + 81);

  xx[53] = 3.641162862673871e-8;

  xx[63] = xx[53] * xx[48];

  xx[64] = 0.04575000000717538;

  xx[65] = xx[64] * xx[48];

  xx[48] = xx[53] * xx[41] + xx[46] * xx[64];

  xx[84] = xx[63];

  xx[85] = xx[65];

  xx[86] = - xx[48];

  pm_math_cross3(xx + 60, xx + 84, xx + 87);

  xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40])

    - motionData[313] - xx[64];

  xx[61] = motionData[312] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx

    [40] + xx[88]) * xx[4] + xx[53];

  xx[62] = (xx[83] - xx[40] * xx[49]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 60, xx + 45);

  xx[36] = motionData[210];

  xx[37] = motionData[211];

  xx[38] = motionData[212];

  xx[39] = motionData[213];

  xx[40] = 3.980251340548381e-7;

  xx[41] = xx[34] * state[26] - xx[40] * state[23];

  xx[48] = xx[34] * state[25] - xx[40] * state[24];

  xx[49] = xx[40] * state[25] + xx[34] * state[24];

  xx[60] = - xx[49];

  xx[61] = xx[40] * state[26] + xx[34] * state[23];

  xx[40] = - xx[61];

  xx[81] = xx[41];

  xx[82] = xx[48];

  xx[83] = xx[60];

  xx[84] = xx[40];

  pm_math_quatCompose(xx + 36, xx + 81, xx + 85);

  xx[81] = motionData[301];

  xx[82] = motionData[302];

  xx[83] = motionData[303];

  xx[84] = motionData[304];

  pm_math_quatCompose(xx + 85, xx + 81, xx + 89);

  xx[62] = motionData[303] * motionData[303];

  xx[63] = motionData[304] * motionData[304];

  xx[65] = motionData[302] * motionData[303];

  xx[69] = motionData[301] * motionData[304];

  xx[73] = motionData[301] * motionData[303];

  xx[74] = motionData[302] * motionData[304];

  xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4];

  xx[82] = xx[4] * (xx[65] - xx[69]);

  xx[83] = (xx[73] + xx[74]) * xx[4];

  pm_math_cross3(xx + 81, xx + 16, xx + 84);

  pm_math_quatXform(xx + 89, xx + 84, xx + 81);

  xx[84] = xx[48];

  xx[85] = xx[60];

  xx[86] = xx[40];

  xx[40] = xx[49] * motionData[306];

  xx[60] = xx[61] * motionData[307];

  xx[87] = xx[40] + xx[60];

  xx[88] = xx[48] * motionData[306];

  xx[93] = xx[48] * motionData[307];

  xx[94] = - xx[87];

  xx[95] = - xx[88];

  xx[96] = - xx[93];

  pm_math_cross3(xx + 84, xx + 94, xx + 97);

  xx[94] = xx[49] * xx[8];

  xx[95] = xx[61] * xx[15];

  xx[96] = xx[94] - xx[95];

  xx[100] = xx[8] * xx[48];

  xx[101] = xx[15] * xx[48];

  xx[102] = xx[96];

  xx[103] = xx[100];

  xx[104] = - xx[101];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) *

    xx[4];

  xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] *

    xx[41]) - motionData[307] - xx[15];

  xx[104] = motionData[306] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] -

    xx[101] * xx[41]) * xx[4] - xx[8];

  pm_math_quatXform(xx + 36, xx + 102, xx + 96);

  xx[87] = motionData[302] * motionData[302];

  xx[88] = motionData[303] * motionData[304];

  xx[93] = motionData[301] * motionData[302];

  xx[99] = (xx[69] + xx[65]) * xx[4];

  xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4];

  xx[101] = xx[4] * (xx[88] - xx[93]);

  pm_math_cross3(xx + 99, xx + 16, xx + 102);

  pm_math_quatXform(xx + 89, xx + 102, xx + 99);

  xx[63] = xx[49] * motionData[305];

  xx[65] = xx[48] * motionData[305];

  xx[69] = xx[65] - xx[60];

  xx[60] = xx[49] * motionData[307];

  xx[102] = xx[63];

  xx[103] = xx[69];

  xx[104] = xx[60];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[49] * xx[6];

  xx[103] = xx[6] * xx[48];

  xx[48] = xx[95] - xx[103];

  xx[95] = xx[49] * xx[15];

  xx[108] = xx[102];

  xx[109] = - xx[48];

  xx[110] = xx[95];

  pm_math_cross3(xx + 84, xx + 108, xx + 111);

  xx[108] = motionData[307] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx

    [111] + xx[102] * xx[41]) + xx[15];

  xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] *

    xx[41]);

  xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) *

    xx[4] - motionData[305] - xx[6];

  pm_math_quatXform(xx + 36, xx + 108, xx + 104);

  xx[107] = xx[4] * (xx[74] - xx[73]);

  xx[108] = (xx[93] + xx[88]) * xx[4];

  xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4];

  pm_math_cross3(xx + 107, xx + 16, xx + 110);

  pm_math_quatXform(xx + 89, xx + 110, xx + 107);

  xx[15] = xx[61] * motionData[305];

  xx[48] = xx[61] * motionData[306];

  xx[49] = xx[65] - xx[40];

  xx[87] = xx[15];

  xx[88] = xx[48];

  xx[89] = xx[49];

  pm_math_cross3(xx + 84, xx + 87, xx + 90);

  xx[40] = xx[61] * xx[6];

  xx[60] = xx[61] * xx[8];

  xx[61] = xx[103] + xx[94];

  xx[87] = xx[40];

  xx[88] = - xx[60];

  xx[89] = xx[61];

  pm_math_cross3(xx + 84, xx + 87, xx + 93);

  xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx

    [4] - motionData[306] + xx[8];

  xx[85] = motionData[305] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94]

    - xx[60] * xx[41]) + xx[6];

  xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 84, xx + 60);

  xx[15] = xx[2] * state[30];

  xx[36] = cos(xx[15]);

  xx[37] = sin(xx[15]);

  xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220];

  xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219];

  xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218];

  xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220];

  xx[84] = motionData[56];

  xx[85] = motionData[57];

  xx[86] = motionData[58];

  xx[87] = motionData[59];

  pm_math_quatCompose(xx + 38, xx + 84, xx + 88);

  xx[38] = xx[4] * (motionData[57] * motionData[59] - motionData[56] *

                    motionData[58]);

  xx[39] = (motionData[56] * motionData[57] + motionData[58] * motionData[59]) *

    xx[4];

  xx[40] = xx[5] - (motionData[57] * motionData[57] + motionData[58] *

                    motionData[58]) * xx[4];

  pm_math_cross3(xx + 38, xx + 16, xx + 84);

  pm_math_quatXform(xx + 88, xx + 84, xx + 15);

  xx[18] = xx[37] * motionData[61];

  xx[38] = xx[37] * motionData[60];

  xx[39] = 0.02540000000000185;

  xx[40] = xx[39] * xx[37];

  xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[61] + xx[4] *

    xx[36] * xx[40];

  xx[84] = motionData[218];

  xx[85] = motionData[219];

  xx[86] = motionData[220];

  xx[48] = motionData[60] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4]

    * xx[40] * xx[37]) - xx[39];

  xx[18] = xx[48] * motionData[220];

  xx[36] = xx[41] * motionData[220];

  xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219];

  xx[38] = - xx[18];

  xx[39] = xx[36];

  xx[40] = xx[37];

  pm_math_cross3(xx + 84, xx + 38, xx + 87);

  xx[90] = motionData[224];

  xx[91] = motionData[225];

  xx[92] = motionData[226];

  xx[93] = motionData[227];

  xx[38] = 0.6123724356957949;

  xx[39] = xx[2] * state[34];

  xx[40] = sin(xx[39]);

  xx[49] = xx[38] * xx[40];

  xx[63] = cos(xx[39]);

  xx[39] = xx[38] * xx[63];

  xx[38] = xx[49] - xx[39];

  xx[65] = 0.3535533905932732;

  xx[69] = xx[65] * xx[63];

  xx[63] = xx[65] * xx[40];

  xx[40] = xx[69] + xx[63];

  xx[65] = - xx[40];

  xx[73] = xx[63] - xx[69];

  xx[63] = xx[49] + xx[39];

  xx[39] = - xx[63];

  xx[110] = xx[38];

  xx[111] = xx[65];

  xx[112] = xx[73];

  xx[113] = xx[39];

  pm_math_quatCompose(xx + 90, xx + 110, xx + 114);

  xx[49] = xx[6] * xx[117];

  xx[69] = xx[8] * xx[116] - xx[6] * xx[115];

  xx[84] = xx[49];

  xx[85] = - (xx[8] * xx[117]);

  xx[86] = xx[69];

  pm_math_cross3(xx + 115, xx + 84, xx + 110);

  xx[84] = xx[65];

  xx[85] = xx[73];

  xx[86] = xx[39];

  xx[39] = 1.121202762681406e-11;

  xx[65] = xx[63] * xx[39];

  xx[74] = 6.145027516349377e-13;

  xx[94] = xx[63] * xx[74];

  xx[63] = xx[74] * xx[73] - xx[40] * xx[39];

  xx[118] = xx[65];

  xx[119] = xx[94];

  xx[120] = xx[63];

  pm_math_cross3(xx + 84, xx + 118, xx + 121);

  xx[84] = xx[4] * (xx[121] + xx[65] * xx[38]) - xx[74];

  xx[85] = xx[39] + (xx[94] * xx[38] + xx[122]) * xx[4];

  xx[86] = (xx[63] * xx[38] + xx[123]) * xx[4];

  pm_math_quatXform(xx + 90, xx + 84, xx + 38);

  xx[63] = 0.04233709306330295;

  xx[65] = xx[2] * state[53];

  xx[73] = cos(xx[65]);

  xx[74] = 0.04233598682685397;

  xx[84] = sin(xx[65]);

  xx[65] = xx[63] * xx[73] + xx[74] * xx[84];

  xx[85] = 0.7058357201813958;

  xx[86] = 0.7058407546227096;

  xx[90] = xx[85] * xx[84] - xx[86] * xx[73];

  xx[91] = xx[85] * xx[73] + xx[86] * xx[84];

  xx[85] = xx[63] * xx[84] - xx[74] * xx[73];

  xx[92] = xx[65];

  xx[93] = xx[90];

  xx[94] = xx[91];

  xx[95] = xx[85];

  xx[118] = motionData[294];

  xx[119] = motionData[295];

  xx[120] = motionData[296];

  xx[121] = motionData[297];

  pm_math_quatCompose(xx + 92, xx + 118, xx + 122);

  xx[92] = xx[4] * (motionData[295] * motionData[297] - motionData[294] *

                    motionData[296]);

  xx[93] = (motionData[294] * motionData[295] + motionData[296] * motionData[297])

    * xx[4];

  xx[94] = xx[5] - (motionData[295] * motionData[295] + motionData[296] *

                    motionData[296]) * xx[4];

  xx[63] = 3.641924106626229e-8;

  xx[73] = 0.04574999999998041;

  xx[74] = 2.92603149291605e-7;

  xx[118] = xx[63];

  xx[119] = xx[73];

  xx[120] = xx[74];

  pm_math_cross3(xx + 92, xx + 118, xx + 126);

  pm_math_quatXform(xx + 122, xx + 126, xx + 92);

  xx[121] = xx[90];

  xx[122] = xx[91];

  xx[123] = xx[85];

  xx[84] = xx[85] * motionData[298];

  xx[86] = xx[85] * motionData[299];

  xx[95] = xx[90] * motionData[298] + xx[91] * motionData[299];

  xx[124] = - xx[84];

  xx[125] = - xx[86];

  xx[126] = xx[95];

  pm_math_cross3(xx + 121, xx + 124, xx + 127);

  xx[102] = 0.02520954632904374;

  xx[103] = xx[90] * xx[102];

  xx[113] = xx[85] * xx[102];

  xx[115] = xx[2] * state[55];

  xx[2] = cos(xx[115]);

  xx[116] = sin(xx[115]);

  xx[121] = xx[2] * motionData[106] - xx[116] * motionData[107];

  xx[122] = - (xx[2] * motionData[105] + xx[116] * motionData[108]);

  xx[123] = xx[116] * motionData[105] - xx[2] * motionData[108];

  xx[124] = xx[116] * motionData[106] + xx[2] * motionData[107];

  xx[130] = motionData[119];

  xx[131] = motionData[120];

  xx[132] = motionData[121];

  xx[133] = motionData[122];

  pm_math_quatCompose(xx + 121, xx + 130, xx + 134);

  xx[121] = xx[4] * (motionData[120] * motionData[122] - motionData[119] *

                     motionData[121]);

  xx[122] = (motionData[119] * motionData[120] + motionData[121] * motionData

             [122]) * xx[4];

  xx[123] = xx[5] - (motionData[120] * motionData[120] + motionData[121] *

                     motionData[121]) * xx[4];

  pm_math_cross3(xx + 121, xx + 118, xx + 124);

  pm_math_quatXform(xx + 134, xx + 124, xx + 118);

  xx[5] = xx[116] * motionData[124] - xx[2] * motionData[123];

  xx[115] = 9.27756931389703e-12;

  xx[121] = 5.443558296964576e-12;

  xx[122] = xx[115] * xx[2] + xx[121] * xx[116];

  xx[123] = xx[4] * xx[116] * xx[5] - (motionData[124] + xx[4] * xx[122] * xx

    [116]) + xx[121];

  xx[124] = motionData[106];

  xx[125] = motionData[107];

  xx[126] = motionData[108];

  xx[116] = motionData[123] + xx[4] * xx[2] * xx[5] - xx[4] * xx[122] * xx[2] +

    xx[115];

  xx[2] = xx[116] * motionData[108];

  xx[5] = xx[123] * motionData[108];

  xx[115] = xx[116] * motionData[106] - xx[123] * motionData[107];

  xx[130] = - xx[2];

  xx[131] = xx[5];

  xx[132] = xx[115];

  pm_math_cross3(xx + 124, xx + 130, xx + 133);

  xx[136] = motionData[273];

  xx[137] = motionData[274];

  xx[138] = motionData[275];

  xx[139] = motionData[276];

  xx[121] = xx[33] * state[60] - xx[34] * state[57];

  xx[122] = xx[33] * state[59] + xx[34] * state[58];

  xx[124] = - xx[122];

  xx[125] = xx[34] * state[59] - xx[33] * state[58];

  xx[126] = - xx[125];

  xx[130] = xx[33] * state[57] + xx[34] * state[60];

  xx[33] = - xx[130];

  xx[140] = xx[121];

  xx[141] = xx[124];

  xx[142] = xx[126];

  xx[143] = xx[33];

  pm_math_quatCompose(xx + 136, xx + 140, xx + 144);

  xx[34] = - 2.329268144978725e-13;

  xx[148] = xx[34];

  xx[149] = - xx[74];

  xx[150] = 0.0457500000000094;

  pm_math_quatXform(xx + 144, xx + 148, xx + 151);

  pm_math_quatXform(xx + 140, xx + 75, xx + 148);

  pm_math_quatXform(xx + 136, xx + 148, xx + 75);

  xx[148] = xx[74];

  xx[149] = xx[34];

  xx[150] = 5.855191459023036e-14;

  pm_math_quatXform(xx + 144, xx + 148, xx + 154);

  pm_math_quatXform(xx + 140, xx + 78, xx + 148);

  pm_math_quatXform(xx + 136, xx + 148, xx + 78);

  xx[34] = xx[63] * xx[147];

  xx[74] = xx[63] * xx[145] + xx[73] * xx[146];

  xx[140] = - xx[34];

  xx[141] = - (xx[73] * xx[147]);

  xx[142] = xx[74];

  pm_math_cross3(xx + 145, xx + 140, xx + 148);

  xx[140] = xx[124];

  xx[141] = xx[126];

  xx[142] = xx[33];

  xx[33] = xx[53] * xx[130];

  xx[124] = xx[64] * xx[130];

  xx[126] = xx[53] * xx[122] + xx[125] * xx[64];

  xx[130] = xx[33];

  xx[131] = xx[124];

  xx[132] = - xx[126];

  pm_math_cross3(xx + 140, xx + 130, xx + 157);

  xx[130] = xx[4] * (xx[157] + xx[33] * xx[121]) - xx[64];

  xx[131] = xx[53] + (xx[124] * xx[121] + xx[158]) * xx[4];

  xx[132] = (xx[159] - xx[126] * xx[121]) * xx[4];

  pm_math_quatXform(xx + 136, xx + 130, xx + 124);

  J[6] = xx[12] + motionData[327] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] *

    (xx[11] * xx[20] - xx[3] * xx[21]);

  J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]);

  J[8] = xx[66] + xx[70];

  J[9] = xx[54] + xx[57];

  J[10] = xx[50] + xx[45];

  J[11] = xx[81] + xx[96];

  J[12] = xx[99] + xx[104];

  J[13] = xx[107] + xx[60];

  J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]);

  J[16] = xx[4] * (xx[110] + xx[114] * xx[49]) + xx[38] - xx[8];

  J[25] = - (xx[92] + xx[4] * (xx[127] - xx[84] * xx[65]) - motionData[299] +

             xx[4] * (xx[103] * xx[91] - xx[113] * xx[65]));

  J[26] = - (xx[118] + xx[123] + xx[4] * (xx[133] - xx[2] * motionData[105]));

  J[27] = - (xx[151] + xx[75]);

  J[28] = - (xx[154] + xx[78]);

  J[29] = - (xx[4] * (xx[148] - xx[144] * xx[34]) + xx[124] - xx[73]);

  J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[326] - (xx[21]

    * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19];

  J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4];

  J[53] = xx[67] + xx[71];

  J[54] = xx[55] + xx[58];

  J[55] = xx[51] + xx[46];

  J[56] = xx[82] + xx[97];

  J[57] = xx[100] + xx[105];

  J[58] = xx[108] + xx[61];

  J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4];

  J[61] = (xx[111] - xx[8] * xx[114] * xx[117]) * xx[4] + xx[39] - xx[6];

  J[70] = - (xx[93] + motionData[298] + xx[4] * (xx[128] - xx[86] * xx[65]) -

             (xx[85] * xx[113] + xx[90] * xx[103]) * xx[4] + xx[102]);

  J[71] = - (xx[119] + xx[116] + (xx[5] * motionData[105] + xx[134]) * xx[4]);

  J[72] = - (xx[152] + xx[76]);

  J[73] = - (xx[155] + xx[79]);

  J[74] = - ((xx[149] - xx[73] * xx[144] * xx[147]) * xx[4] + xx[125] + xx[63]);

  J[96] = xx[14] + xx[4] * (xx[28] - xx[22] * xx[3]) + (xx[3] * xx[20] + xx[11] *

    xx[21]) * xx[4];

  J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4];

  J[98] = xx[68] + xx[72];

  J[99] = xx[56] + xx[59];

  J[100] = xx[52] + xx[47];

  J[101] = xx[83] + xx[98];

  J[102] = xx[101] + xx[106];

  J[103] = xx[109] + xx[62];

  J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4];

  J[106] = (xx[114] * xx[69] + xx[112]) * xx[4] + xx[40];

  J[115] = - (xx[94] + (xx[95] * xx[65] + xx[129]) * xx[4] + (xx[103] * xx[65] +

    xx[113] * xx[91]) * xx[4]);

  J[116] = - (xx[120] + (xx[115] * motionData[105] + xx[135]) * xx[4]);

  J[117] = - (xx[153] + xx[77]);

  J[118] = - (xx[156] + xx[80]);

  J[119] = - ((xx[144] * xx[74] + xx[150]) * xx[4] + xx[126]);

  return 3;

}



static size_t computeAssemblyJacobian_2(const double *rtdv, const double *state,

  const double *motionData, double *J)

{

  double xx[160];

  (void) rtdv;

  xx[0] = 0.0;

  xx[1] = 0.3895853754265615;

  xx[2] = 0.5;

  xx[3] = xx[2] * state[12];

  xx[4] = cos(xx[3]);

  xx[5] = 0.389581900177037;

  xx[6] = sin(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = 0.5901074779979933;

  xx[8] = 0.5901036711621462;

  xx[9] = xx[7] * xx[4] + xx[8] * xx[6];

  xx[10] = - xx[9];

  xx[11] = xx[8] * xx[4] - xx[7] * xx[6];

  xx[7] = xx[5] * xx[4] + xx[1] * xx[6];

  xx[1] = - xx[7];

  xx[12] = xx[3];

  xx[13] = xx[10];

  xx[14] = xx[11];

  xx[15] = xx[1];

  xx[16] = motionData[378];

  xx[17] = motionData[379];

  xx[18] = motionData[380];

  xx[19] = motionData[381];

  pm_math_quatCompose(xx + 12, xx + 16, xx + 20);

  xx[4] = 2.0;

  xx[5] = 1.0;

  xx[12] = xx[4] * (motionData[378] * motionData[380] - motionData[379] *

                    motionData[381]);

  xx[13] = - ((motionData[378] * motionData[379] + motionData[380] * motionData

               [381]) * xx[4]);

  xx[14] = (motionData[379] * motionData[379] + motionData[380] * motionData[380])

    * xx[4] - xx[5];

  xx[6] = 7.599121945184391e-12;

  xx[8] = 5.036130209737022e-12;

  xx[15] = 5.192027881355888e-12;

  xx[16] = - xx[6];

  xx[17] = xx[8];

  xx[18] = - xx[15];

  pm_math_cross3(xx + 12, xx + 16, xx + 24);

  pm_math_quatXform(xx + 20, xx + 24, xx + 12);

  xx[19] = xx[10];

  xx[20] = xx[11];

  xx[21] = xx[1];

  xx[1] = xx[7] * motionData[382];

  xx[10] = xx[7] * motionData[383];

  xx[22] = xx[11] * motionData[383] - xx[9] * motionData[382];

  xx[23] = - xx[1];

  xx[24] = - xx[10];

  xx[25] = - xx[22];

  pm_math_cross3(xx + 19, xx + 23, xx + 26);

  xx[19] = 0.02520954632904373;

  xx[20] = xx[19] * xx[9];

  xx[21] = xx[19] * xx[7];

  xx[23] = xx[2] * state[14];

  xx[24] = cos(xx[23]);

  xx[25] = sin(xx[23]);

  xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16];

  xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]);

  xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17];

  xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16];

  xx[33] = motionData[371];

  xx[34] = motionData[372];

  xx[35] = motionData[373];

  xx[36] = motionData[374];

  pm_math_quatCompose(xx + 29, xx + 33, xx + 37);

  xx[29] = xx[4] * (motionData[372] * motionData[374] - motionData[371] *

                    motionData[373]);

  xx[30] = (motionData[371] * motionData[372] + motionData[373] * motionData[374])

    * xx[4];

  xx[31] = xx[5] - (motionData[372] * motionData[372] + motionData[373] *

                    motionData[373]) * xx[4];

  pm_math_cross3(xx + 29, xx + 16, xx + 32);

  pm_math_quatXform(xx + 37, xx + 32, xx + 29);

  xx[23] = xx[25] * motionData[376] - xx[24] * motionData[375];

  xx[32] = 7.748428954013064e-12;

  xx[33] = 5.376764528053357e-12;

  xx[34] = xx[32] * xx[24] - xx[33] * xx[25];

  xx[35] = xx[4] * xx[25] * xx[23] - (motionData[376] + xx[4] * xx[34] * xx[25])

    - xx[33];

  xx[36] = motionData[15];

  xx[37] = motionData[16];

  xx[38] = motionData[17];

  xx[25] = motionData[375] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] +

    xx[32];

  xx[23] = xx[25] * motionData[17];

  xx[24] = xx[35] * motionData[17];

  xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16];

  xx[39] = - xx[23];

  xx[40] = xx[24];

  xx[41] = xx[32];

  pm_math_cross3(xx + 36, xx + 39, xx + 42);

  xx[36] = motionData[203];

  xx[37] = motionData[204];

  xx[38] = motionData[205];

  xx[39] = motionData[206];

  xx[33] = 3.980251324392935e-7;

  xx[34] = 0.999999999999921;

  xx[40] = xx[33] * state[19] - xx[34] * state[16];

  xx[41] = xx[33] * state[18] + xx[34] * state[17];

  xx[45] = - xx[41];

  xx[46] = xx[34] * state[18] - xx[33] * state[17];

  xx[47] = - xx[46];

  xx[48] = xx[33] * state[16] + xx[34] * state[19];

  xx[49] = - xx[48];

  xx[50] = xx[40];

  xx[51] = xx[45];

  xx[52] = xx[47];

  xx[53] = xx[49];

  pm_math_quatCompose(xx + 36, xx + 50, xx + 54);

  xx[58] = motionData[364];

  xx[59] = motionData[365];

  xx[60] = motionData[366];

  xx[61] = motionData[367];

  pm_math_quatCompose(xx + 54, xx + 58, xx + 62);

  xx[54] = motionData[365];

  xx[55] = motionData[366];

  xx[56] = motionData[367];

  xx[57] = 7.960502648785241e-7;

  xx[58] = xx[57] * motionData[367];

  xx[59] = xx[57] * motionData[365] + motionData[366];

  xx[66] = xx[58];

  xx[67] = motionData[367];

  xx[68] = - xx[59];

  pm_math_cross3(xx + 54, xx + 66, xx + 69);

  xx[60] = motionData[364] * motionData[367];

  xx[66] = xx[5] + (xx[69] - xx[58] * motionData[364]) * xx[4];

  xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57];

  xx[68] = xx[4] * (xx[71] + xx[59] * motionData[364]);

  pm_math_cross3(xx + 66, xx + 16, xx + 69);

  pm_math_quatXform(xx + 62, xx + 69, xx + 66);

  xx[59] = - (xx[57] * motionData[370]);

  xx[69] = xx[59];

  xx[70] = - motionData[370];

  xx[71] = motionData[369] + xx[57] * motionData[368];

  pm_math_quatXform(xx + 50, xx + 69, xx + 72);

  xx[61] = 2.329280111075767e-13;

  xx[69] = 2.926046524751139e-7;

  xx[75] = xx[61];

  xx[76] = xx[69];

  xx[77] = 0.04575000000718987;

  pm_math_quatXform(xx + 50, xx + 75, xx + 78);

  xx[81] = xx[72] + xx[78];

  xx[82] = xx[73] + xx[79];

  xx[83] = xx[74] + xx[80];

  pm_math_quatXform(xx + 36, xx + 81, xx + 70);

  xx[73] = motionData[365] - xx[57] * motionData[366];

  xx[78] = - motionData[367];

  xx[79] = xx[58];

  xx[80] = xx[73];

  pm_math_cross3(xx + 54, xx + 78, xx + 81);

  xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4];

  xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]);

  xx[56] = xx[4] * (xx[83] - xx[73] * motionData[364]);

  pm_math_cross3(xx + 54, xx + 16, xx + 78);

  pm_math_quatXform(xx + 62, xx + 78, xx + 54);

  xx[78] = motionData[370];

  xx[79] = xx[59];

  xx[80] = xx[57] * motionData[369] - motionData[368];

  pm_math_quatXform(xx + 50, xx + 78, xx + 57);

  xx[78] = - xx[69];

  xx[79] = xx[61];

  xx[80] = 7.670997177269469e-12;

  pm_math_quatXform(xx + 50, xx + 78, xx + 81);

  xx[50] = xx[57] + xx[81];

  xx[51] = xx[58] + xx[82];

  xx[52] = xx[59] + xx[83];

  pm_math_quatXform(xx + 36, xx + 50, xx + 57);

  xx[50] = xx[4] * (motionData[365] * motionData[367] - motionData[364] *

                    motionData[366]);

  xx[51] = (motionData[364] * motionData[365] + motionData[366] * motionData[367])

    * xx[4];

  xx[52] = xx[5] - (motionData[365] * motionData[365] + motionData[366] *

                    motionData[366]) * xx[4];

  pm_math_cross3(xx + 50, xx + 16, xx + 81);

  pm_math_quatXform(xx + 62, xx + 81, xx + 50);

  xx[60] = xx[45];

  xx[61] = xx[47];

  xx[62] = xx[49];

  xx[45] = xx[48] * motionData[368];

  xx[47] = xx[48] * motionData[369];

  xx[49] = xx[41] * motionData[368] + xx[46] * motionData[369];

  xx[63] = xx[45];

  xx[64] = xx[47];

  xx[65] = - xx[49];

  pm_math_cross3(xx + 60, xx + 63, xx + 81);

  xx[53] = 3.641162862673871e-8;

  xx[63] = xx[53] * xx[48];

  xx[64] = 0.04575000000717538;

  xx[65] = xx[64] * xx[48];

  xx[48] = xx[53] * xx[41] + xx[46] * xx[64];

  xx[84] = xx[63];

  xx[85] = xx[65];

  xx[86] = - xx[48];

  pm_math_cross3(xx + 60, xx + 84, xx + 87);

  xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40])

    - motionData[369] - xx[64];

  xx[61] = motionData[368] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx

    [40] + xx[88]) * xx[4] + xx[53];

  xx[62] = (xx[83] - xx[40] * xx[49]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 60, xx + 45);

  xx[36] = motionData[210];

  xx[37] = motionData[211];

  xx[38] = motionData[212];

  xx[39] = motionData[213];

  xx[40] = 3.980251340548381e-7;

  xx[41] = xx[34] * state[26] - xx[40] * state[23];

  xx[48] = xx[34] * state[25] - xx[40] * state[24];

  xx[49] = xx[40] * state[25] + xx[34] * state[24];

  xx[60] = - xx[49];

  xx[61] = xx[40] * state[26] + xx[34] * state[23];

  xx[40] = - xx[61];

  xx[81] = xx[41];

  xx[82] = xx[48];

  xx[83] = xx[60];

  xx[84] = xx[40];

  pm_math_quatCompose(xx + 36, xx + 81, xx + 85);

  xx[81] = motionData[357];

  xx[82] = motionData[358];

  xx[83] = motionData[359];

  xx[84] = motionData[360];

  pm_math_quatCompose(xx + 85, xx + 81, xx + 89);

  xx[62] = motionData[359] * motionData[359];

  xx[63] = motionData[360] * motionData[360];

  xx[65] = motionData[358] * motionData[359];

  xx[69] = motionData[357] * motionData[360];

  xx[73] = motionData[357] * motionData[359];

  xx[74] = motionData[358] * motionData[360];

  xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4];

  xx[82] = xx[4] * (xx[65] - xx[69]);

  xx[83] = (xx[73] + xx[74]) * xx[4];

  pm_math_cross3(xx + 81, xx + 16, xx + 84);

  pm_math_quatXform(xx + 89, xx + 84, xx + 81);

  xx[84] = xx[48];

  xx[85] = xx[60];

  xx[86] = xx[40];

  xx[40] = xx[49] * motionData[362];

  xx[60] = xx[61] * motionData[363];

  xx[87] = xx[40] + xx[60];

  xx[88] = xx[48] * motionData[362];

  xx[93] = xx[48] * motionData[363];

  xx[94] = - xx[87];

  xx[95] = - xx[88];

  xx[96] = - xx[93];

  pm_math_cross3(xx + 84, xx + 94, xx + 97);

  xx[94] = xx[49] * xx[8];

  xx[95] = xx[61] * xx[15];

  xx[96] = xx[94] - xx[95];

  xx[100] = xx[8] * xx[48];

  xx[101] = xx[15] * xx[48];

  xx[102] = xx[96];

  xx[103] = xx[100];

  xx[104] = - xx[101];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) *

    xx[4];

  xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] *

    xx[41]) - motionData[363] - xx[15];

  xx[104] = motionData[362] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] -

    xx[101] * xx[41]) * xx[4] - xx[8];

  pm_math_quatXform(xx + 36, xx + 102, xx + 96);

  xx[87] = motionData[358] * motionData[358];

  xx[88] = motionData[359] * motionData[360];

  xx[93] = motionData[357] * motionData[358];

  xx[99] = (xx[69] + xx[65]) * xx[4];

  xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4];

  xx[101] = xx[4] * (xx[88] - xx[93]);

  pm_math_cross3(xx + 99, xx + 16, xx + 102);

  pm_math_quatXform(xx + 89, xx + 102, xx + 99);

  xx[63] = xx[49] * motionData[361];

  xx[65] = xx[48] * motionData[361];

  xx[69] = xx[65] - xx[60];

  xx[60] = xx[49] * motionData[363];

  xx[102] = xx[63];

  xx[103] = xx[69];

  xx[104] = xx[60];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[49] * xx[6];

  xx[103] = xx[6] * xx[48];

  xx[48] = xx[95] - xx[103];

  xx[95] = xx[49] * xx[15];

  xx[108] = xx[102];

  xx[109] = - xx[48];

  xx[110] = xx[95];

  pm_math_cross3(xx + 84, xx + 108, xx + 111);

  xx[108] = motionData[363] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx

    [111] + xx[102] * xx[41]) + xx[15];

  xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] *

    xx[41]);

  xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) *

    xx[4] - motionData[361] - xx[6];

  pm_math_quatXform(xx + 36, xx + 108, xx + 104);

  xx[107] = xx[4] * (xx[74] - xx[73]);

  xx[108] = (xx[93] + xx[88]) * xx[4];

  xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4];

  pm_math_cross3(xx + 107, xx + 16, xx + 110);

  pm_math_quatXform(xx + 89, xx + 110, xx + 107);

  xx[15] = xx[61] * motionData[361];

  xx[48] = xx[61] * motionData[362];

  xx[49] = xx[65] - xx[40];

  xx[87] = xx[15];

  xx[88] = xx[48];

  xx[89] = xx[49];

  pm_math_cross3(xx + 84, xx + 87, xx + 90);

  xx[40] = xx[61] * xx[6];

  xx[60] = xx[61] * xx[8];

  xx[61] = xx[103] + xx[94];

  xx[87] = xx[40];

  xx[88] = - xx[60];

  xx[89] = xx[61];

  pm_math_cross3(xx + 84, xx + 87, xx + 93);

  xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx

    [4] - motionData[362] + xx[8];

  xx[85] = motionData[361] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94]

    - xx[60] * xx[41]) + xx[6];

  xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 84, xx + 60);

  xx[15] = xx[2] * state[30];

  xx[36] = cos(xx[15]);

  xx[37] = sin(xx[15]);

  xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220];

  xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219];

  xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218];

  xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220];

  xx[84] = motionData[63];

  xx[85] = motionData[64];

  xx[86] = motionData[65];

  xx[87] = motionData[66];

  pm_math_quatCompose(xx + 38, xx + 84, xx + 88);

  xx[38] = xx[4] * (motionData[64] * motionData[66] - motionData[63] *

                    motionData[65]);

  xx[39] = (motionData[63] * motionData[64] + motionData[65] * motionData[66]) *

    xx[4];

  xx[40] = xx[5] - (motionData[64] * motionData[64] + motionData[65] *

                    motionData[65]) * xx[4];

  pm_math_cross3(xx + 38, xx + 16, xx + 84);

  pm_math_quatXform(xx + 88, xx + 84, xx + 15);

  xx[18] = xx[37] * motionData[68];

  xx[38] = xx[37] * motionData[67];

  xx[39] = 0.02540000000000185;

  xx[40] = xx[39] * xx[37];

  xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[68] + xx[4] *

    xx[36] * xx[40];

  xx[84] = motionData[218];

  xx[85] = motionData[219];

  xx[86] = motionData[220];

  xx[48] = motionData[67] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4]

    * xx[40] * xx[37]) - xx[39];

  xx[18] = xx[48] * motionData[220];

  xx[36] = xx[41] * motionData[220];

  xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219];

  xx[38] = - xx[18];

  xx[39] = xx[36];

  xx[40] = xx[37];

  pm_math_cross3(xx + 84, xx + 38, xx + 87);

  xx[90] = motionData[224];

  xx[91] = motionData[225];

  xx[92] = motionData[226];

  xx[93] = motionData[227];

  xx[38] = 0.3535533905932758;

  xx[39] = xx[2] * state[36];

  xx[40] = cos(xx[39]);

  xx[49] = xx[38] * xx[40];

  xx[63] = sin(xx[39]);

  xx[39] = xx[38] * xx[63];

  xx[38] = xx[49] + xx[39];

  xx[65] = 0.6123724356957934;

  xx[69] = xx[65] * xx[63];

  xx[63] = xx[65] * xx[40];

  xx[40] = xx[69] - xx[63];

  xx[65] = xx[63] + xx[69];

  xx[63] = - xx[65];

  xx[69] = xx[39] - xx[49];

  xx[110] = - xx[38];

  xx[111] = xx[40];

  xx[112] = xx[63];

  xx[113] = xx[69];

  pm_math_quatCompose(xx + 90, xx + 110, xx + 114);

  xx[39] = xx[6] * xx[117];

  xx[49] = xx[6] * xx[115] - xx[8] * xx[116];

  xx[84] = - xx[39];

  xx[85] = xx[8] * xx[117];

  xx[86] = xx[49];

  pm_math_cross3(xx + 115, xx + 84, xx + 110);

  xx[73] = 3.80025733104361e-12;

  xx[84] = xx[40];

  xx[85] = xx[63];

  xx[86] = xx[69];

  xx[63] = 3.881762117297072e-12;

  xx[74] = xx[63] * xx[69];

  xx[94] = xx[73] * xx[69];

  xx[69] = xx[63] * xx[40] + xx[65] * xx[73];

  xx[118] = - xx[74];

  xx[119] = xx[94];

  xx[120] = xx[69];

  pm_math_cross3(xx + 84, xx + 118, xx + 121);

  xx[84] = xx[73] + xx[4] * (xx[121] + xx[38] * xx[74]);

  xx[85] = xx[63] + (xx[122] - xx[38] * xx[94]) * xx[4];

  xx[86] = (xx[123] - xx[38] * xx[69]) * xx[4];

  pm_math_quatXform(xx + 90, xx + 84, xx + 118);

  xx[38] = 0.3162553791961485;

  xx[40] = xx[2] * state[75];

  xx[63] = cos(xx[40]);

  xx[65] = 0.3162538200043588;

  xx[69] = sin(xx[40]);

  xx[40] = xx[38] * xx[63] - xx[65] * xx[69];

  xx[73] = 0.6324445710612965;

  xx[74] = 0.6324396579890005;

  xx[84] = xx[73] * xx[63] + xx[74] * xx[69];

  xx[85] = xx[73] * xx[69] - xx[74] * xx[63];

  xx[73] = xx[65] * xx[63] + xx[38] * xx[69];

  xx[38] = - xx[73];

  xx[90] = xx[40];

  xx[91] = xx[84];

  xx[92] = xx[85];

  xx[93] = xx[38];

  xx[121] = motionData[350];

  xx[122] = motionData[351];

  xx[123] = motionData[352];

  xx[124] = motionData[353];

  pm_math_quatCompose(xx + 90, xx + 121, xx + 125);

  xx[90] = xx[4] * (motionData[350] * motionData[352] - motionData[351] *

                    motionData[353]);

  xx[91] = - ((motionData[350] * motionData[351] + motionData[352] * motionData

               [353]) * xx[4]);

  xx[92] = (motionData[351] * motionData[351] + motionData[352] * motionData[352])

    * xx[4] - xx[5];

  xx[63] = 3.641924106626229e-8;

  xx[65] = 0.04574999999998041;

  xx[69] = 2.92603149291605e-7;

  xx[93] = xx[63];

  xx[94] = xx[65];

  xx[95] = xx[69];

  pm_math_cross3(xx + 90, xx + 93, xx + 121);

  pm_math_quatXform(xx + 125, xx + 121, xx + 90);

  xx[121] = xx[84];

  xx[122] = xx[85];

  xx[123] = xx[38];

  xx[38] = xx[73] * motionData[354];

  xx[74] = xx[73] * motionData[355];

  xx[86] = xx[84] * motionData[354] + xx[85] * motionData[355];

  xx[124] = - xx[38];

  xx[125] = - xx[74];

  xx[126] = - xx[86];

  pm_math_cross3(xx + 121, xx + 124, xx + 127);

  xx[102] = xx[19] * xx[84];

  xx[103] = xx[19] * xx[73];

  xx[113] = xx[2] * state[77];

  xx[2] = cos(xx[113]);

  xx[115] = sin(xx[113]);

  xx[121] = xx[2] * motionData[148] - xx[115] * motionData[149];

  xx[122] = - (xx[2] * motionData[147] + xx[115] * motionData[150]);

  xx[123] = xx[115] * motionData[147] - xx[2] * motionData[150];

  xx[124] = xx[115] * motionData[148] + xx[2] * motionData[149];

  xx[130] = motionData[161];

  xx[131] = motionData[162];

  xx[132] = motionData[163];

  xx[133] = motionData[164];

  pm_math_quatCompose(xx + 121, xx + 130, xx + 134);

  xx[121] = xx[4] * (motionData[162] * motionData[164] - motionData[161] *

                     motionData[163]);

  xx[122] = (motionData[161] * motionData[162] + motionData[163] * motionData

             [164]) * xx[4];

  xx[123] = xx[5] - (motionData[162] * motionData[162] + motionData[163] *

                     motionData[163]) * xx[4];

  pm_math_cross3(xx + 121, xx + 93, xx + 124);

  pm_math_quatXform(xx + 134, xx + 124, xx + 93);

  xx[5] = xx[115] * motionData[166] - xx[2] * motionData[165];

  xx[113] = 5.157931604049537e-12;

  xx[116] = 9.862118968695376e-13;

  xx[121] = xx[113] * xx[2] + xx[116] * xx[115];

  xx[122] = xx[4] * xx[115] * xx[5] - (motionData[166] - xx[4] * xx[121] * xx

    [115]) - xx[116];

  xx[123] = motionData[148];

  xx[124] = motionData[149];

  xx[125] = motionData[150];

  xx[115] = motionData[165] + xx[4] * xx[2] * xx[5] + xx[4] * xx[121] * xx[2] -

    xx[113];

  xx[2] = xx[115] * motionData[150];

  xx[5] = xx[122] * motionData[150];

  xx[113] = xx[115] * motionData[148] - xx[122] * motionData[149];

  xx[130] = - xx[2];

  xx[131] = xx[5];

  xx[132] = xx[113];

  pm_math_cross3(xx + 123, xx + 130, xx + 133);

  xx[123] = motionData[329];

  xx[124] = motionData[330];

  xx[125] = motionData[331];

  xx[126] = motionData[332];

  xx[116] = xx[33] * state[82] - xx[34] * state[79];

  xx[121] = xx[33] * state[81] + xx[34] * state[80];

  xx[130] = - xx[121];

  xx[131] = xx[34] * state[81] - xx[33] * state[80];

  xx[132] = - xx[131];

  xx[136] = xx[33] * state[79] + xx[34] * state[82];

  xx[33] = - xx[136];

  xx[137] = xx[116];

  xx[138] = xx[130];

  xx[139] = xx[132];

  xx[140] = xx[33];

  pm_math_quatCompose(xx + 123, xx + 137, xx + 141);

  xx[34] = - 2.329268144978725e-13;

  xx[145] = xx[34];

  xx[146] = - xx[69];

  xx[147] = 0.0457500000000094;

  pm_math_quatXform(xx + 141, xx + 145, xx + 148);

  pm_math_quatXform(xx + 137, xx + 75, xx + 145);

  pm_math_quatXform(xx + 123, xx + 145, xx + 75);

  xx[145] = xx[69];

  xx[146] = xx[34];

  xx[147] = 5.855191459023036e-14;

  pm_math_quatXform(xx + 141, xx + 145, xx + 151);

  pm_math_quatXform(xx + 137, xx + 78, xx + 145);

  pm_math_quatXform(xx + 123, xx + 145, xx + 78);

  xx[34] = xx[63] * xx[144];

  xx[69] = xx[63] * xx[142] + xx[65] * xx[143];

  xx[137] = - xx[34];

  xx[138] = - (xx[65] * xx[144]);

  xx[139] = xx[69];

  pm_math_cross3(xx + 142, xx + 137, xx + 145);

  xx[137] = xx[130];

  xx[138] = xx[132];

  xx[139] = xx[33];

  xx[33] = xx[53] * xx[136];

  xx[130] = xx[64] * xx[136];

  xx[132] = xx[53] * xx[121] + xx[131] * xx[64];

  xx[154] = xx[33];

  xx[155] = xx[130];

  xx[156] = - xx[132];

  pm_math_cross3(xx + 137, xx + 154, xx + 157);

  xx[136] = xx[4] * (xx[157] + xx[33] * xx[116]) - xx[64];

  xx[137] = xx[53] + (xx[130] * xx[116] + xx[158]) * xx[4];

  xx[138] = (xx[159] - xx[132] * xx[116]) * xx[4];

  pm_math_quatXform(xx + 123, xx + 136, xx + 130);

  J[6] = xx[12] + motionData[383] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] *

    (xx[11] * xx[20] - xx[3] * xx[21]);

  J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]);

  J[8] = xx[66] + xx[70];

  J[9] = xx[54] + xx[57];

  J[10] = xx[50] + xx[45];

  J[11] = xx[81] + xx[96];

  J[12] = xx[99] + xx[104];

  J[13] = xx[107] + xx[60];

  J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]);

  J[17] = xx[4] * (xx[110] - xx[114] * xx[39]) + xx[118] + xx[8];

  J[35] = - (xx[90] + motionData[355] + (xx[127] - xx[40] * xx[38]) * xx[4] -

             xx[4] * (xx[85] * xx[102] + xx[40] * xx[103]));

  J[36] = - (xx[93] + xx[122] + xx[4] * (xx[133] - xx[2] * motionData[147]));

  J[37] = - (xx[148] + xx[75]);

  J[38] = - (xx[151] + xx[78]);

  J[39] = - (xx[4] * (xx[145] - xx[141] * xx[34]) + xx[130] - xx[65]);

  J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[382] - (xx[21]

    * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19];

  J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4];

  J[53] = xx[67] + xx[71];

  J[54] = xx[55] + xx[58];

  J[55] = xx[51] + xx[46];

  J[56] = xx[82] + xx[97];

  J[57] = xx[100] + xx[105];

  J[58] = xx[108] + xx[61];

  J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4];

  J[62] = (xx[8] * xx[114] * xx[117] + xx[111]) * xx[4] + xx[119] + xx[6];

  J[80] = - (xx[91] + (xx[128] - xx[40] * xx[74]) * xx[4] - (motionData[354] -

              (xx[103] * xx[73] + xx[102] * xx[84]) * xx[4]) - xx[19]);

  J[81] = - (xx[94] + xx[115] + (xx[5] * motionData[147] + xx[134]) * xx[4]);

  J[82] = - (xx[149] + xx[76]);

  J[83] = - (xx[152] + xx[79]);

  J[84] = - ((xx[146] - xx[65] * xx[141] * xx[144]) * xx[4] + xx[131] + xx[63]);

  J[96] = xx[14] + xx[4] * (xx[28] - xx[3] * xx[22]) + (xx[3] * xx[20] + xx[11] *

    xx[21]) * xx[4];

  J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4];

  J[98] = xx[68] + xx[72];

  J[99] = xx[56] + xx[59];

  J[100] = xx[52] + xx[47];

  J[101] = xx[83] + xx[98];

  J[102] = xx[101] + xx[106];

  J[103] = xx[109] + xx[62];

  J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4];

  J[107] = (xx[114] * xx[49] + xx[112]) * xx[4] + xx[120];

  J[125] = - (xx[92] + xx[4] * (xx[129] - xx[86] * xx[40]) + (xx[85] * xx[103] -

    xx[40] * xx[102]) * xx[4]);

  J[126] = - (xx[95] + (xx[113] * motionData[147] + xx[135]) * xx[4]);

  J[127] = - (xx[150] + xx[77]);

  J[128] = - (xx[153] + xx[80]);

  J[129] = - ((xx[141] * xx[69] + xx[147]) * xx[4] + xx[132]);

  return 3;

}



static size_t computeAssemblyJacobian_3(const double *rtdv, const double *state,

  const double *motionData, double *J)

{

  double xx[160];

  (void) rtdv;

  xx[0] = 0.0;

  xx[1] = 0.3895853754265615;

  xx[2] = 0.5;

  xx[3] = xx[2] * state[12];

  xx[4] = cos(xx[3]);

  xx[5] = 0.389581900177037;

  xx[6] = sin(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = 0.5901074779979933;

  xx[8] = 0.5901036711621462;

  xx[9] = xx[7] * xx[4] + xx[8] * xx[6];

  xx[10] = - xx[9];

  xx[11] = xx[8] * xx[4] - xx[7] * xx[6];

  xx[7] = xx[5] * xx[4] + xx[1] * xx[6];

  xx[1] = - xx[7];

  xx[12] = xx[3];

  xx[13] = xx[10];

  xx[14] = xx[11];

  xx[15] = xx[1];

  xx[16] = motionData[434];

  xx[17] = motionData[435];

  xx[18] = motionData[436];

  xx[19] = motionData[437];

  pm_math_quatCompose(xx + 12, xx + 16, xx + 20);

  xx[4] = 2.0;

  xx[5] = 1.0;

  xx[12] = xx[4] * (motionData[434] * motionData[436] - motionData[435] *

                    motionData[437]);

  xx[13] = - ((motionData[434] * motionData[435] + motionData[436] * motionData

               [437]) * xx[4]);

  xx[14] = (motionData[435] * motionData[435] + motionData[436] * motionData[436])

    * xx[4] - xx[5];

  xx[6] = 7.599121945184391e-12;

  xx[8] = 5.036130209737022e-12;

  xx[15] = 5.192027881355888e-12;

  xx[16] = - xx[6];

  xx[17] = xx[8];

  xx[18] = - xx[15];

  pm_math_cross3(xx + 12, xx + 16, xx + 24);

  pm_math_quatXform(xx + 20, xx + 24, xx + 12);

  xx[19] = xx[10];

  xx[20] = xx[11];

  xx[21] = xx[1];

  xx[1] = xx[7] * motionData[438];

  xx[10] = xx[7] * motionData[439];

  xx[22] = xx[11] * motionData[439] - xx[9] * motionData[438];

  xx[23] = - xx[1];

  xx[24] = - xx[10];

  xx[25] = - xx[22];

  pm_math_cross3(xx + 19, xx + 23, xx + 26);

  xx[19] = 0.02520954632904373;

  xx[20] = xx[19] * xx[9];

  xx[21] = xx[19] * xx[7];

  xx[23] = xx[2] * state[14];

  xx[24] = cos(xx[23]);

  xx[25] = sin(xx[23]);

  xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16];

  xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]);

  xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17];

  xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16];

  xx[33] = motionData[427];

  xx[34] = motionData[428];

  xx[35] = motionData[429];

  xx[36] = motionData[430];

  pm_math_quatCompose(xx + 29, xx + 33, xx + 37);

  xx[29] = xx[4] * (motionData[428] * motionData[430] - motionData[427] *

                    motionData[429]);

  xx[30] = (motionData[427] * motionData[428] + motionData[429] * motionData[430])

    * xx[4];

  xx[31] = xx[5] - (motionData[428] * motionData[428] + motionData[429] *

                    motionData[429]) * xx[4];

  pm_math_cross3(xx + 29, xx + 16, xx + 32);

  pm_math_quatXform(xx + 37, xx + 32, xx + 29);

  xx[23] = xx[25] * motionData[432] - xx[24] * motionData[431];

  xx[32] = 7.748428954013064e-12;

  xx[33] = 5.376764528053357e-12;

  xx[34] = xx[32] * xx[24] - xx[33] * xx[25];

  xx[35] = xx[4] * xx[25] * xx[23] - (motionData[432] + xx[4] * xx[34] * xx[25])

    - xx[33];

  xx[36] = motionData[15];

  xx[37] = motionData[16];

  xx[38] = motionData[17];

  xx[25] = motionData[431] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] +

    xx[32];

  xx[23] = xx[25] * motionData[17];

  xx[24] = xx[35] * motionData[17];

  xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16];

  xx[39] = - xx[23];

  xx[40] = xx[24];

  xx[41] = xx[32];

  pm_math_cross3(xx + 36, xx + 39, xx + 42);

  xx[36] = motionData[203];

  xx[37] = motionData[204];

  xx[38] = motionData[205];

  xx[39] = motionData[206];

  xx[33] = 3.980251324392935e-7;

  xx[34] = 0.999999999999921;

  xx[40] = xx[33] * state[19] - xx[34] * state[16];

  xx[41] = xx[33] * state[18] + xx[34] * state[17];

  xx[45] = - xx[41];

  xx[46] = xx[34] * state[18] - xx[33] * state[17];

  xx[47] = - xx[46];

  xx[48] = xx[33] * state[16] + xx[34] * state[19];

  xx[49] = - xx[48];

  xx[50] = xx[40];

  xx[51] = xx[45];

  xx[52] = xx[47];

  xx[53] = xx[49];

  pm_math_quatCompose(xx + 36, xx + 50, xx + 54);

  xx[58] = motionData[420];

  xx[59] = motionData[421];

  xx[60] = motionData[422];

  xx[61] = motionData[423];

  pm_math_quatCompose(xx + 54, xx + 58, xx + 62);

  xx[54] = motionData[421];

  xx[55] = motionData[422];

  xx[56] = motionData[423];

  xx[57] = 7.960502648785241e-7;

  xx[58] = xx[57] * motionData[423];

  xx[59] = xx[57] * motionData[421] + motionData[422];

  xx[66] = xx[58];

  xx[67] = motionData[423];

  xx[68] = - xx[59];

  pm_math_cross3(xx + 54, xx + 66, xx + 69);

  xx[60] = motionData[420] * motionData[423];

  xx[66] = xx[5] + (xx[69] - xx[58] * motionData[420]) * xx[4];

  xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57];

  xx[68] = xx[4] * (xx[71] + xx[59] * motionData[420]);

  pm_math_cross3(xx + 66, xx + 16, xx + 69);

  pm_math_quatXform(xx + 62, xx + 69, xx + 66);

  xx[59] = - (xx[57] * motionData[426]);

  xx[69] = xx[59];

  xx[70] = - motionData[426];

  xx[71] = motionData[425] + xx[57] * motionData[424];

  pm_math_quatXform(xx + 50, xx + 69, xx + 72);

  xx[61] = 2.329280111075767e-13;

  xx[69] = 2.926046524751139e-7;

  xx[75] = xx[61];

  xx[76] = xx[69];

  xx[77] = 0.04575000000718987;

  pm_math_quatXform(xx + 50, xx + 75, xx + 78);

  xx[81] = xx[72] + xx[78];

  xx[82] = xx[73] + xx[79];

  xx[83] = xx[74] + xx[80];

  pm_math_quatXform(xx + 36, xx + 81, xx + 70);

  xx[73] = motionData[421] - xx[57] * motionData[422];

  xx[78] = - motionData[423];

  xx[79] = xx[58];

  xx[80] = xx[73];

  pm_math_cross3(xx + 54, xx + 78, xx + 81);

  xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4];

  xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]);

  xx[56] = xx[4] * (xx[83] - xx[73] * motionData[420]);

  pm_math_cross3(xx + 54, xx + 16, xx + 78);

  pm_math_quatXform(xx + 62, xx + 78, xx + 54);

  xx[78] = motionData[426];

  xx[79] = xx[59];

  xx[80] = xx[57] * motionData[425] - motionData[424];

  pm_math_quatXform(xx + 50, xx + 78, xx + 57);

  xx[78] = - xx[69];

  xx[79] = xx[61];

  xx[80] = 7.670997177269469e-12;

  pm_math_quatXform(xx + 50, xx + 78, xx + 81);

  xx[50] = xx[57] + xx[81];

  xx[51] = xx[58] + xx[82];

  xx[52] = xx[59] + xx[83];

  pm_math_quatXform(xx + 36, xx + 50, xx + 57);

  xx[50] = xx[4] * (motionData[421] * motionData[423] - motionData[420] *

                    motionData[422]);

  xx[51] = (motionData[420] * motionData[421] + motionData[422] * motionData[423])

    * xx[4];

  xx[52] = xx[5] - (motionData[421] * motionData[421] + motionData[422] *

                    motionData[422]) * xx[4];

  pm_math_cross3(xx + 50, xx + 16, xx + 81);

  pm_math_quatXform(xx + 62, xx + 81, xx + 50);

  xx[60] = xx[45];

  xx[61] = xx[47];

  xx[62] = xx[49];

  xx[45] = xx[48] * motionData[424];

  xx[47] = xx[48] * motionData[425];

  xx[49] = xx[41] * motionData[424] + xx[46] * motionData[425];

  xx[63] = xx[45];

  xx[64] = xx[47];

  xx[65] = - xx[49];

  pm_math_cross3(xx + 60, xx + 63, xx + 81);

  xx[53] = 3.641162862673871e-8;

  xx[63] = xx[53] * xx[48];

  xx[64] = 0.04575000000717538;

  xx[65] = xx[64] * xx[48];

  xx[48] = xx[53] * xx[41] + xx[46] * xx[64];

  xx[84] = xx[63];

  xx[85] = xx[65];

  xx[86] = - xx[48];

  pm_math_cross3(xx + 60, xx + 84, xx + 87);

  xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40])

    - motionData[425] - xx[64];

  xx[61] = motionData[424] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx

    [40] + xx[88]) * xx[4] + xx[53];

  xx[62] = (xx[83] - xx[40] * xx[49]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 60, xx + 45);

  xx[36] = motionData[210];

  xx[37] = motionData[211];

  xx[38] = motionData[212];

  xx[39] = motionData[213];

  xx[40] = 3.980251340548381e-7;

  xx[41] = xx[34] * state[26] - xx[40] * state[23];

  xx[48] = xx[34] * state[25] - xx[40] * state[24];

  xx[49] = xx[40] * state[25] + xx[34] * state[24];

  xx[60] = - xx[49];

  xx[61] = xx[40] * state[26] + xx[34] * state[23];

  xx[40] = - xx[61];

  xx[81] = xx[41];

  xx[82] = xx[48];

  xx[83] = xx[60];

  xx[84] = xx[40];

  pm_math_quatCompose(xx + 36, xx + 81, xx + 85);

  xx[81] = motionData[413];

  xx[82] = motionData[414];

  xx[83] = motionData[415];

  xx[84] = motionData[416];

  pm_math_quatCompose(xx + 85, xx + 81, xx + 89);

  xx[62] = motionData[415] * motionData[415];

  xx[63] = motionData[416] * motionData[416];

  xx[65] = motionData[414] * motionData[415];

  xx[69] = motionData[413] * motionData[416];

  xx[73] = motionData[413] * motionData[415];

  xx[74] = motionData[414] * motionData[416];

  xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4];

  xx[82] = xx[4] * (xx[65] - xx[69]);

  xx[83] = (xx[73] + xx[74]) * xx[4];

  pm_math_cross3(xx + 81, xx + 16, xx + 84);

  pm_math_quatXform(xx + 89, xx + 84, xx + 81);

  xx[84] = xx[48];

  xx[85] = xx[60];

  xx[86] = xx[40];

  xx[40] = xx[49] * motionData[418];

  xx[60] = xx[61] * motionData[419];

  xx[87] = xx[40] + xx[60];

  xx[88] = xx[48] * motionData[418];

  xx[93] = xx[48] * motionData[419];

  xx[94] = - xx[87];

  xx[95] = - xx[88];

  xx[96] = - xx[93];

  pm_math_cross3(xx + 84, xx + 94, xx + 97);

  xx[94] = xx[49] * xx[8];

  xx[95] = xx[61] * xx[15];

  xx[96] = xx[94] - xx[95];

  xx[100] = xx[8] * xx[48];

  xx[101] = xx[15] * xx[48];

  xx[102] = xx[96];

  xx[103] = xx[100];

  xx[104] = - xx[101];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) *

    xx[4];

  xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] *

    xx[41]) - motionData[419] - xx[15];

  xx[104] = motionData[418] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] -

    xx[101] * xx[41]) * xx[4] - xx[8];

  pm_math_quatXform(xx + 36, xx + 102, xx + 96);

  xx[87] = motionData[414] * motionData[414];

  xx[88] = motionData[415] * motionData[416];

  xx[93] = motionData[413] * motionData[414];

  xx[99] = (xx[69] + xx[65]) * xx[4];

  xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4];

  xx[101] = xx[4] * (xx[88] - xx[93]);

  pm_math_cross3(xx + 99, xx + 16, xx + 102);

  pm_math_quatXform(xx + 89, xx + 102, xx + 99);

  xx[63] = xx[49] * motionData[417];

  xx[65] = xx[48] * motionData[417];

  xx[69] = xx[65] - xx[60];

  xx[60] = xx[49] * motionData[419];

  xx[102] = xx[63];

  xx[103] = xx[69];

  xx[104] = xx[60];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[49] * xx[6];

  xx[103] = xx[6] * xx[48];

  xx[48] = xx[95] - xx[103];

  xx[95] = xx[49] * xx[15];

  xx[108] = xx[102];

  xx[109] = - xx[48];

  xx[110] = xx[95];

  pm_math_cross3(xx + 84, xx + 108, xx + 111);

  xx[108] = motionData[419] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx

    [111] + xx[102] * xx[41]) + xx[15];

  xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] *

    xx[41]);

  xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) *

    xx[4] - motionData[417] - xx[6];

  pm_math_quatXform(xx + 36, xx + 108, xx + 104);

  xx[107] = xx[4] * (xx[74] - xx[73]);

  xx[108] = (xx[93] + xx[88]) * xx[4];

  xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4];

  pm_math_cross3(xx + 107, xx + 16, xx + 110);

  pm_math_quatXform(xx + 89, xx + 110, xx + 107);

  xx[15] = xx[61] * motionData[417];

  xx[48] = xx[61] * motionData[418];

  xx[49] = xx[65] - xx[40];

  xx[87] = xx[15];

  xx[88] = xx[48];

  xx[89] = xx[49];

  pm_math_cross3(xx + 84, xx + 87, xx + 90);

  xx[40] = xx[61] * xx[6];

  xx[60] = xx[61] * xx[8];

  xx[61] = xx[103] + xx[94];

  xx[87] = xx[40];

  xx[88] = - xx[60];

  xx[89] = xx[61];

  pm_math_cross3(xx + 84, xx + 87, xx + 93);

  xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx

    [4] - motionData[418] + xx[8];

  xx[85] = motionData[417] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94]

    - xx[60] * xx[41]) + xx[6];

  xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 84, xx + 60);

  xx[15] = xx[2] * state[30];

  xx[36] = cos(xx[15]);

  xx[37] = sin(xx[15]);

  xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220];

  xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219];

  xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218];

  xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220];

  xx[84] = motionData[70];

  xx[85] = motionData[71];

  xx[86] = motionData[72];

  xx[87] = motionData[73];

  pm_math_quatCompose(xx + 38, xx + 84, xx + 88);

  xx[38] = xx[4] * (motionData[71] * motionData[73] - motionData[70] *

                    motionData[72]);

  xx[39] = (motionData[70] * motionData[71] + motionData[72] * motionData[73]) *

    xx[4];

  xx[40] = xx[5] - (motionData[71] * motionData[71] + motionData[72] *

                    motionData[72]) * xx[4];

  pm_math_cross3(xx + 38, xx + 16, xx + 84);

  pm_math_quatXform(xx + 88, xx + 84, xx + 15);

  xx[18] = xx[37] * motionData[75];

  xx[38] = xx[37] * motionData[74];

  xx[39] = 0.02540000000000185;

  xx[40] = xx[39] * xx[37];

  xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[75] + xx[4] *

    xx[36] * xx[40];

  xx[84] = motionData[218];

  xx[85] = motionData[219];

  xx[86] = motionData[220];

  xx[48] = motionData[74] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4]

    * xx[40] * xx[37]) - xx[39];

  xx[18] = xx[48] * motionData[220];

  xx[36] = xx[41] * motionData[220];

  xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219];

  xx[38] = - xx[18];

  xx[39] = xx[36];

  xx[40] = xx[37];

  pm_math_cross3(xx + 84, xx + 38, xx + 87);

  xx[90] = motionData[224];

  xx[91] = motionData[225];

  xx[92] = motionData[226];

  xx[93] = motionData[227];

  xx[38] = 0.3535533905932758;

  xx[39] = xx[2] * state[38];

  xx[40] = cos(xx[39]);

  xx[49] = xx[38] * xx[40];

  xx[63] = sin(xx[39]);

  xx[39] = xx[38] * xx[63];

  xx[38] = xx[49] + xx[39];

  xx[65] = 0.6123724356957934;

  xx[69] = xx[65] * xx[40];

  xx[40] = xx[65] * xx[63];

  xx[63] = xx[69] - xx[40];

  xx[65] = xx[69] + xx[40];

  xx[40] = xx[49] - xx[39];

  xx[110] = xx[38];

  xx[111] = xx[63];

  xx[112] = xx[65];

  xx[113] = xx[40];

  pm_math_quatCompose(xx + 90, xx + 110, xx + 114);

  xx[39] = xx[6] * xx[117];

  xx[49] = xx[6] * xx[115] - xx[8] * xx[116];

  xx[84] = - xx[39];

  xx[85] = xx[8] * xx[117];

  xx[86] = xx[49];

  pm_math_cross3(xx + 115, xx + 84, xx + 110);

  xx[69] = 6.30935626036444e-12;

  xx[84] = xx[63];

  xx[85] = xx[65];

  xx[86] = xx[40];

  xx[73] = 5.998698970888227e-12;

  xx[74] = xx[73] * xx[40];

  xx[94] = xx[69] * xx[40];

  xx[40] = xx[73] * xx[63] + xx[65] * xx[69];

  xx[118] = xx[74];

  xx[119] = xx[94];

  xx[120] = - xx[40];

  pm_math_cross3(xx + 84, xx + 118, xx + 121);

  xx[84] = xx[69] + xx[4] * (xx[121] + xx[38] * xx[74]);

  xx[85] = (xx[38] * xx[94] + xx[122]) * xx[4] - xx[73];

  xx[86] = (xx[123] - xx[38] * xx[40]) * xx[4];

  pm_math_quatXform(xx + 90, xx + 84, xx + 118);

  xx[38] = 0.3162538200043575;

  xx[40] = xx[2] * state[86];

  xx[63] = sin(xx[40]);

  xx[65] = 0.3162553791961478;

  xx[69] = cos(xx[40]);

  xx[40] = xx[38] * xx[63] - xx[65] * xx[69];

  xx[73] = 0.6324445710612973;

  xx[74] = 0.6324396579890008;

  xx[84] = xx[73] * xx[69] + xx[74] * xx[63];

  xx[85] = - xx[84];

  xx[86] = xx[74] * xx[69] - xx[73] * xx[63];

  xx[73] = xx[38] * xx[69] + xx[65] * xx[63];

  xx[90] = xx[40];

  xx[91] = xx[85];

  xx[92] = xx[86];

  xx[93] = xx[73];

  xx[121] = motionData[406];

  xx[122] = motionData[407];

  xx[123] = motionData[408];

  xx[124] = motionData[409];

  pm_math_quatCompose(xx + 90, xx + 121, xx + 125);

  xx[90] = xx[4] * (motionData[406] * motionData[408] - motionData[407] *

                    motionData[409]);

  xx[91] = - ((motionData[406] * motionData[407] + motionData[408] * motionData

               [409]) * xx[4]);

  xx[92] = (motionData[407] * motionData[407] + motionData[408] * motionData[408])

    * xx[4] - xx[5];

  xx[38] = 3.641924106626229e-8;

  xx[63] = 0.04574999999998041;

  xx[65] = 2.92603149291605e-7;

  xx[93] = xx[38];

  xx[94] = xx[63];

  xx[95] = xx[65];

  pm_math_cross3(xx + 90, xx + 93, xx + 121);

  pm_math_quatXform(xx + 125, xx + 121, xx + 90);

  xx[69] = xx[73] * motionData[410];

  xx[121] = xx[85];

  xx[122] = xx[86];

  xx[123] = xx[73];

  xx[74] = xx[73] * motionData[411];

  xx[85] = xx[86] * motionData[411] - xx[84] * motionData[410];

  xx[124] = xx[69];

  xx[125] = xx[74];

  xx[126] = - xx[85];

  pm_math_cross3(xx + 121, xx + 124, xx + 127);

  xx[102] = xx[19] * xx[84];

  xx[103] = xx[19] * xx[73];

  xx[113] = xx[2] * state[88];

  xx[2] = cos(xx[113]);

  xx[115] = sin(xx[113]);

  xx[121] = xx[2] * motionData[169] - xx[115] * motionData[170];

  xx[122] = - (xx[2] * motionData[168] + xx[115] * motionData[171]);

  xx[123] = xx[115] * motionData[168] - xx[2] * motionData[171];

  xx[124] = xx[115] * motionData[169] + xx[2] * motionData[170];

  xx[130] = motionData[182];

  xx[131] = motionData[183];

  xx[132] = motionData[184];

  xx[133] = motionData[185];

  pm_math_quatCompose(xx + 121, xx + 130, xx + 134);

  xx[121] = xx[4] * (motionData[183] * motionData[185] - motionData[182] *

                     motionData[184]);

  xx[122] = (motionData[182] * motionData[183] + motionData[184] * motionData

             [185]) * xx[4];

  xx[123] = xx[5] - (motionData[183] * motionData[183] + motionData[184] *

                     motionData[184]) * xx[4];

  pm_math_cross3(xx + 121, xx + 93, xx + 124);

  pm_math_quatXform(xx + 134, xx + 124, xx + 93);

  xx[5] = xx[115] * motionData[187] - xx[2] * motionData[186];

  xx[113] = 1.600627075326599e-13;

  xx[116] = 8.497959654019115e-12;

  xx[121] = xx[113] * xx[2] + xx[116] * xx[115];

  xx[122] = xx[4] * xx[115] * xx[5] - (motionData[187] - xx[4] * xx[121] * xx

    [115]) - xx[116];

  xx[123] = motionData[169];

  xx[124] = motionData[170];

  xx[125] = motionData[171];

  xx[115] = motionData[186] + xx[4] * xx[2] * xx[5] + xx[4] * xx[121] * xx[2] -

    xx[113];

  xx[2] = xx[115] * motionData[171];

  xx[5] = xx[122] * motionData[171];

  xx[113] = xx[115] * motionData[169] - xx[122] * motionData[170];

  xx[130] = - xx[2];

  xx[131] = xx[5];

  xx[132] = xx[113];

  pm_math_cross3(xx + 123, xx + 130, xx + 133);

  xx[123] = motionData[385];

  xx[124] = motionData[386];

  xx[125] = motionData[387];

  xx[126] = motionData[388];

  xx[116] = xx[33] * state[93] - xx[34] * state[90];

  xx[121] = xx[33] * state[92] + xx[34] * state[91];

  xx[130] = - xx[121];

  xx[131] = xx[34] * state[92] - xx[33] * state[91];

  xx[132] = - xx[131];

  xx[136] = xx[33] * state[90] + xx[34] * state[93];

  xx[33] = - xx[136];

  xx[137] = xx[116];

  xx[138] = xx[130];

  xx[139] = xx[132];

  xx[140] = xx[33];

  pm_math_quatCompose(xx + 123, xx + 137, xx + 141);

  xx[34] = - 2.329268144978725e-13;

  xx[145] = xx[34];

  xx[146] = - xx[65];

  xx[147] = 0.0457500000000094;

  pm_math_quatXform(xx + 141, xx + 145, xx + 148);

  pm_math_quatXform(xx + 137, xx + 75, xx + 145);

  pm_math_quatXform(xx + 123, xx + 145, xx + 75);

  xx[145] = xx[65];

  xx[146] = xx[34];

  xx[147] = 5.855191459023036e-14;

  pm_math_quatXform(xx + 141, xx + 145, xx + 151);

  pm_math_quatXform(xx + 137, xx + 78, xx + 145);

  pm_math_quatXform(xx + 123, xx + 145, xx + 78);

  xx[34] = xx[38] * xx[144];

  xx[65] = xx[38] * xx[142] + xx[63] * xx[143];

  xx[137] = - xx[34];

  xx[138] = - (xx[63] * xx[144]);

  xx[139] = xx[65];

  pm_math_cross3(xx + 142, xx + 137, xx + 145);

  xx[137] = xx[130];

  xx[138] = xx[132];

  xx[139] = xx[33];

  xx[33] = xx[53] * xx[136];

  xx[130] = xx[64] * xx[136];

  xx[132] = xx[53] * xx[121] + xx[131] * xx[64];

  xx[154] = xx[33];

  xx[155] = xx[130];

  xx[156] = - xx[132];

  pm_math_cross3(xx + 137, xx + 154, xx + 157);

  xx[136] = xx[4] * (xx[157] + xx[33] * xx[116]) - xx[64];

  xx[137] = xx[53] + (xx[130] * xx[116] + xx[158]) * xx[4];

  xx[138] = (xx[159] - xx[132] * xx[116]) * xx[4];

  pm_math_quatXform(xx + 123, xx + 136, xx + 130);

  J[6] = xx[12] + motionData[439] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] *

    (xx[11] * xx[20] - xx[3] * xx[21]);

  J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]);

  J[8] = xx[66] + xx[70];

  J[9] = xx[54] + xx[57];

  J[10] = xx[50] + xx[45];

  J[11] = xx[81] + xx[96];

  J[12] = xx[99] + xx[104];

  J[13] = xx[107] + xx[60];

  J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]);

  J[18] = xx[4] * (xx[110] - xx[114] * xx[39]) + xx[118] + xx[8];

  J[40] = - (xx[90] + motionData[411] + (xx[40] * xx[69] + xx[127]) * xx[4] +

             xx[4] * (xx[86] * xx[102] + xx[40] * xx[103]));

  J[41] = - (xx[93] + xx[122] + xx[4] * (xx[133] - xx[2] * motionData[168]));

  J[42] = - (xx[148] + xx[75]);

  J[43] = - (xx[151] + xx[78]);

  J[44] = - (xx[4] * (xx[145] - xx[141] * xx[34]) + xx[130] - xx[63]);

  J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[438] - (xx[21]

    * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19];

  J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4];

  J[53] = xx[67] + xx[71];

  J[54] = xx[55] + xx[58];

  J[55] = xx[51] + xx[46];

  J[56] = xx[82] + xx[97];

  J[57] = xx[100] + xx[105];

  J[58] = xx[108] + xx[61];

  J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4];

  J[63] = (xx[8] * xx[114] * xx[117] + xx[111]) * xx[4] + xx[119] + xx[6];

  J[85] = - (xx[91] + (xx[40] * xx[74] + xx[128]) * xx[4] - (motionData[410] -

              (xx[103] * xx[73] + xx[102] * xx[84]) * xx[4]) - xx[19]);

  J[86] = - (xx[94] + xx[115] + (xx[5] * motionData[168] + xx[134]) * xx[4]);

  J[87] = - (xx[149] + xx[76]);

  J[88] = - (xx[152] + xx[79]);

  J[89] = - ((xx[146] - xx[63] * xx[141] * xx[144]) * xx[4] + xx[131] + xx[38]);

  J[96] = xx[14] + xx[4] * (xx[28] - xx[22] * xx[3]) + (xx[3] * xx[20] + xx[11] *

    xx[21]) * xx[4];

  J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4];

  J[98] = xx[68] + xx[72];

  J[99] = xx[56] + xx[59];

  J[100] = xx[52] + xx[47];

  J[101] = xx[83] + xx[98];

  J[102] = xx[101] + xx[106];

  J[103] = xx[109] + xx[62];

  J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4];

  J[108] = (xx[114] * xx[49] + xx[112]) * xx[4] + xx[120];

  J[130] = - (xx[92] + xx[4] * (xx[129] - xx[40] * xx[85]) + (xx[40] * xx[102] -

    xx[86] * xx[103]) * xx[4]);

  J[131] = - (xx[95] + (xx[113] * motionData[168] + xx[135]) * xx[4]);

  J[132] = - (xx[150] + xx[77]);

  J[133] = - (xx[153] + xx[80]);

  J[134] = - ((xx[141] * xx[65] + xx[147]) * xx[4] + xx[132]);

  return 3;

}



static size_t computeAssemblyJacobian_4(const double *rtdv, const double *state,

  const double *motionData, double *J)

{

  double xx[160];

  (void) rtdv;

  xx[0] = 0.0;

  xx[1] = 0.3895853754265615;

  xx[2] = 0.5;

  xx[3] = xx[2] * state[12];

  xx[4] = cos(xx[3]);

  xx[5] = 0.389581900177037;

  xx[6] = sin(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = 0.5901074779979933;

  xx[8] = 0.5901036711621462;

  xx[9] = xx[7] * xx[4] + xx[8] * xx[6];

  xx[10] = - xx[9];

  xx[11] = xx[8] * xx[4] - xx[7] * xx[6];

  xx[7] = xx[5] * xx[4] + xx[1] * xx[6];

  xx[1] = - xx[7];

  xx[12] = xx[3];

  xx[13] = xx[10];

  xx[14] = xx[11];

  xx[15] = xx[1];

  xx[16] = motionData[490];

  xx[17] = motionData[491];

  xx[18] = motionData[492];

  xx[19] = motionData[493];

  pm_math_quatCompose(xx + 12, xx + 16, xx + 20);

  xx[4] = 2.0;

  xx[5] = 1.0;

  xx[12] = xx[4] * (motionData[490] * motionData[492] - motionData[491] *

                    motionData[493]);

  xx[13] = - ((motionData[490] * motionData[491] + motionData[492] * motionData

               [493]) * xx[4]);

  xx[14] = (motionData[491] * motionData[491] + motionData[492] * motionData[492])

    * xx[4] - xx[5];

  xx[6] = 7.599121945184391e-12;

  xx[8] = 5.036130209737022e-12;

  xx[15] = 5.192027881355888e-12;

  xx[16] = - xx[6];

  xx[17] = xx[8];

  xx[18] = - xx[15];

  pm_math_cross3(xx + 12, xx + 16, xx + 24);

  pm_math_quatXform(xx + 20, xx + 24, xx + 12);

  xx[19] = xx[10];

  xx[20] = xx[11];

  xx[21] = xx[1];

  xx[1] = xx[7] * motionData[494];

  xx[10] = xx[7] * motionData[495];

  xx[22] = xx[11] * motionData[495] - xx[9] * motionData[494];

  xx[23] = - xx[1];

  xx[24] = - xx[10];

  xx[25] = - xx[22];

  pm_math_cross3(xx + 19, xx + 23, xx + 26);

  xx[19] = 0.02520954632904373;

  xx[20] = xx[19] * xx[9];

  xx[21] = xx[19] * xx[7];

  xx[23] = xx[2] * state[14];

  xx[24] = cos(xx[23]);

  xx[25] = sin(xx[23]);

  xx[29] = xx[24] * motionData[15] - xx[25] * motionData[16];

  xx[30] = - (xx[24] * motionData[14] + xx[25] * motionData[17]);

  xx[31] = xx[25] * motionData[14] - xx[24] * motionData[17];

  xx[32] = xx[25] * motionData[15] + xx[24] * motionData[16];

  xx[33] = motionData[483];

  xx[34] = motionData[484];

  xx[35] = motionData[485];

  xx[36] = motionData[486];

  pm_math_quatCompose(xx + 29, xx + 33, xx + 37);

  xx[29] = xx[4] * (motionData[484] * motionData[486] - motionData[483] *

                    motionData[485]);

  xx[30] = (motionData[483] * motionData[484] + motionData[485] * motionData[486])

    * xx[4];

  xx[31] = xx[5] - (motionData[484] * motionData[484] + motionData[485] *

                    motionData[485]) * xx[4];

  pm_math_cross3(xx + 29, xx + 16, xx + 32);

  pm_math_quatXform(xx + 37, xx + 32, xx + 29);

  xx[23] = xx[25] * motionData[488] - xx[24] * motionData[487];

  xx[32] = 7.748428954013064e-12;

  xx[33] = 5.376764528053357e-12;

  xx[34] = xx[32] * xx[24] - xx[33] * xx[25];

  xx[35] = xx[4] * xx[25] * xx[23] - (motionData[488] + xx[4] * xx[34] * xx[25])

    - xx[33];

  xx[36] = motionData[15];

  xx[37] = motionData[16];

  xx[38] = motionData[17];

  xx[25] = motionData[487] + xx[4] * xx[24] * xx[23] - xx[4] * xx[34] * xx[24] +

    xx[32];

  xx[23] = xx[25] * motionData[17];

  xx[24] = xx[35] * motionData[17];

  xx[32] = xx[25] * motionData[15] - xx[35] * motionData[16];

  xx[39] = - xx[23];

  xx[40] = xx[24];

  xx[41] = xx[32];

  pm_math_cross3(xx + 36, xx + 39, xx + 42);

  xx[36] = motionData[203];

  xx[37] = motionData[204];

  xx[38] = motionData[205];

  xx[39] = motionData[206];

  xx[33] = 3.980251324392935e-7;

  xx[34] = 0.999999999999921;

  xx[40] = xx[33] * state[19] - xx[34] * state[16];

  xx[41] = xx[33] * state[18] + xx[34] * state[17];

  xx[45] = - xx[41];

  xx[46] = xx[34] * state[18] - xx[33] * state[17];

  xx[47] = - xx[46];

  xx[48] = xx[33] * state[16] + xx[34] * state[19];

  xx[49] = - xx[48];

  xx[50] = xx[40];

  xx[51] = xx[45];

  xx[52] = xx[47];

  xx[53] = xx[49];

  pm_math_quatCompose(xx + 36, xx + 50, xx + 54);

  xx[58] = motionData[476];

  xx[59] = motionData[477];

  xx[60] = motionData[478];

  xx[61] = motionData[479];

  pm_math_quatCompose(xx + 54, xx + 58, xx + 62);

  xx[54] = motionData[477];

  xx[55] = motionData[478];

  xx[56] = motionData[479];

  xx[57] = 7.960502648785241e-7;

  xx[58] = xx[57] * motionData[479];

  xx[59] = xx[57] * motionData[477] + motionData[478];

  xx[66] = xx[58];

  xx[67] = motionData[479];

  xx[68] = - xx[59];

  pm_math_cross3(xx + 54, xx + 66, xx + 69);

  xx[60] = motionData[476] * motionData[479];

  xx[66] = xx[5] + (xx[69] - xx[58] * motionData[476]) * xx[4];

  xx[67] = xx[4] * (xx[70] - xx[60]) - xx[57];

  xx[68] = xx[4] * (xx[71] + xx[59] * motionData[476]);

  pm_math_cross3(xx + 66, xx + 16, xx + 69);

  pm_math_quatXform(xx + 62, xx + 69, xx + 66);

  xx[59] = - (xx[57] * motionData[482]);

  xx[69] = xx[59];

  xx[70] = - motionData[482];

  xx[71] = motionData[481] + xx[57] * motionData[480];

  pm_math_quatXform(xx + 50, xx + 69, xx + 72);

  xx[61] = 2.329280111075767e-13;

  xx[69] = 2.926046524751139e-7;

  xx[75] = xx[61];

  xx[76] = xx[69];

  xx[77] = 0.04575000000718987;

  pm_math_quatXform(xx + 50, xx + 75, xx + 78);

  xx[81] = xx[72] + xx[78];

  xx[82] = xx[73] + xx[79];

  xx[83] = xx[74] + xx[80];

  pm_math_quatXform(xx + 36, xx + 81, xx + 70);

  xx[73] = motionData[477] - xx[57] * motionData[478];

  xx[78] = - motionData[479];

  xx[79] = xx[58];

  xx[80] = xx[73];

  pm_math_cross3(xx + 54, xx + 78, xx + 81);

  xx[54] = xx[57] + (xx[60] + xx[81]) * xx[4];

  xx[55] = xx[5] + xx[4] * (xx[82] - xx[57] * xx[60]);

  xx[56] = xx[4] * (xx[83] - xx[73] * motionData[476]);

  pm_math_cross3(xx + 54, xx + 16, xx + 78);

  pm_math_quatXform(xx + 62, xx + 78, xx + 54);

  xx[78] = motionData[482];

  xx[79] = xx[59];

  xx[80] = xx[57] * motionData[481] - motionData[480];

  pm_math_quatXform(xx + 50, xx + 78, xx + 57);

  xx[78] = - xx[69];

  xx[79] = xx[61];

  xx[80] = 7.670997177269469e-12;

  pm_math_quatXform(xx + 50, xx + 78, xx + 81);

  xx[50] = xx[57] + xx[81];

  xx[51] = xx[58] + xx[82];

  xx[52] = xx[59] + xx[83];

  pm_math_quatXform(xx + 36, xx + 50, xx + 57);

  xx[50] = xx[4] * (motionData[477] * motionData[479] - motionData[476] *

                    motionData[478]);

  xx[51] = (motionData[476] * motionData[477] + motionData[478] * motionData[479])

    * xx[4];

  xx[52] = xx[5] - (motionData[477] * motionData[477] + motionData[478] *

                    motionData[478]) * xx[4];

  pm_math_cross3(xx + 50, xx + 16, xx + 81);

  pm_math_quatXform(xx + 62, xx + 81, xx + 50);

  xx[60] = xx[45];

  xx[61] = xx[47];

  xx[62] = xx[49];

  xx[45] = xx[48] * motionData[480];

  xx[47] = xx[48] * motionData[481];

  xx[49] = xx[41] * motionData[480] + xx[46] * motionData[481];

  xx[63] = xx[45];

  xx[64] = xx[47];

  xx[65] = - xx[49];

  pm_math_cross3(xx + 60, xx + 63, xx + 81);

  xx[53] = 3.641162862673871e-8;

  xx[63] = xx[53] * xx[48];

  xx[64] = 0.04575000000717538;

  xx[65] = xx[64] * xx[48];

  xx[48] = xx[53] * xx[41] + xx[46] * xx[64];

  xx[84] = xx[63];

  xx[85] = xx[65];

  xx[86] = - xx[48];

  pm_math_cross3(xx + 60, xx + 84, xx + 87);

  xx[60] = xx[4] * (xx[81] + xx[45] * xx[40]) + xx[4] * (xx[87] + xx[63] * xx[40])

    - motionData[481] - xx[64];

  xx[61] = motionData[480] + xx[4] * (xx[82] + xx[47] * xx[40]) + (xx[65] * xx

    [40] + xx[88]) * xx[4] + xx[53];

  xx[62] = (xx[83] - xx[49] * xx[40]) * xx[4] + (xx[89] - xx[48] * xx[40]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 60, xx + 45);

  xx[36] = motionData[210];

  xx[37] = motionData[211];

  xx[38] = motionData[212];

  xx[39] = motionData[213];

  xx[40] = 3.980251340548381e-7;

  xx[41] = xx[34] * state[26] - xx[40] * state[23];

  xx[48] = xx[34] * state[25] - xx[40] * state[24];

  xx[49] = xx[40] * state[25] + xx[34] * state[24];

  xx[60] = - xx[49];

  xx[61] = xx[40] * state[26] + xx[34] * state[23];

  xx[40] = - xx[61];

  xx[81] = xx[41];

  xx[82] = xx[48];

  xx[83] = xx[60];

  xx[84] = xx[40];

  pm_math_quatCompose(xx + 36, xx + 81, xx + 85);

  xx[81] = motionData[469];

  xx[82] = motionData[470];

  xx[83] = motionData[471];

  xx[84] = motionData[472];

  pm_math_quatCompose(xx + 85, xx + 81, xx + 89);

  xx[62] = motionData[471] * motionData[471];

  xx[63] = motionData[472] * motionData[472];

  xx[65] = motionData[470] * motionData[471];

  xx[69] = motionData[469] * motionData[472];

  xx[73] = motionData[469] * motionData[471];

  xx[74] = motionData[470] * motionData[472];

  xx[81] = xx[5] - (xx[62] + xx[63]) * xx[4];

  xx[82] = xx[4] * (xx[65] - xx[69]);

  xx[83] = (xx[73] + xx[74]) * xx[4];

  pm_math_cross3(xx + 81, xx + 16, xx + 84);

  pm_math_quatXform(xx + 89, xx + 84, xx + 81);

  xx[84] = xx[48];

  xx[85] = xx[60];

  xx[86] = xx[40];

  xx[40] = xx[49] * motionData[474];

  xx[60] = xx[61] * motionData[475];

  xx[87] = xx[40] + xx[60];

  xx[88] = xx[48] * motionData[474];

  xx[93] = xx[48] * motionData[475];

  xx[94] = - xx[87];

  xx[95] = - xx[88];

  xx[96] = - xx[93];

  pm_math_cross3(xx + 84, xx + 94, xx + 97);

  xx[94] = xx[49] * xx[8];

  xx[95] = xx[61] * xx[15];

  xx[96] = xx[94] - xx[95];

  xx[100] = xx[8] * xx[48];

  xx[101] = xx[15] * xx[48];

  xx[102] = xx[96];

  xx[103] = xx[100];

  xx[104] = - xx[101];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[4] * (xx[97] - xx[87] * xx[41]) + (xx[41] * xx[96] + xx[105]) *

    xx[4];

  xx[103] = xx[4] * (xx[98] - xx[88] * xx[41]) + xx[4] * (xx[106] + xx[100] *

    xx[41]) - motionData[475] - xx[15];

  xx[104] = motionData[474] + xx[4] * (xx[99] - xx[93] * xx[41]) + (xx[107] -

    xx[101] * xx[41]) * xx[4] - xx[8];

  pm_math_quatXform(xx + 36, xx + 102, xx + 96);

  xx[87] = motionData[470] * motionData[470];

  xx[88] = motionData[471] * motionData[472];

  xx[93] = motionData[469] * motionData[470];

  xx[99] = (xx[69] + xx[65]) * xx[4];

  xx[100] = xx[5] - (xx[63] + xx[87]) * xx[4];

  xx[101] = xx[4] * (xx[88] - xx[93]);

  pm_math_cross3(xx + 99, xx + 16, xx + 102);

  pm_math_quatXform(xx + 89, xx + 102, xx + 99);

  xx[63] = xx[49] * motionData[473];

  xx[65] = xx[48] * motionData[473];

  xx[69] = xx[65] - xx[60];

  xx[60] = xx[49] * motionData[475];

  xx[102] = xx[63];

  xx[103] = xx[69];

  xx[104] = xx[60];

  pm_math_cross3(xx + 84, xx + 102, xx + 105);

  xx[102] = xx[49] * xx[6];

  xx[103] = xx[6] * xx[48];

  xx[48] = xx[95] - xx[103];

  xx[95] = xx[49] * xx[15];

  xx[108] = xx[102];

  xx[109] = - xx[48];

  xx[110] = xx[95];

  pm_math_cross3(xx + 84, xx + 108, xx + 111);

  xx[108] = motionData[475] + (xx[63] * xx[41] + xx[105]) * xx[4] + xx[4] * (xx

    [111] + xx[102] * xx[41]) + xx[15];

  xx[109] = (xx[41] * xx[69] + xx[106]) * xx[4] + xx[4] * (xx[112] - xx[48] *

    xx[41]);

  xx[110] = (xx[60] * xx[41] + xx[107]) * xx[4] + (xx[95] * xx[41] + xx[113]) *

    xx[4] - motionData[473] - xx[6];

  pm_math_quatXform(xx + 36, xx + 108, xx + 104);

  xx[107] = xx[4] * (xx[74] - xx[73]);

  xx[108] = (xx[93] + xx[88]) * xx[4];

  xx[109] = xx[5] - (xx[87] + xx[62]) * xx[4];

  pm_math_cross3(xx + 107, xx + 16, xx + 110);

  pm_math_quatXform(xx + 89, xx + 110, xx + 107);

  xx[15] = xx[61] * motionData[473];

  xx[48] = xx[61] * motionData[474];

  xx[49] = xx[65] - xx[40];

  xx[87] = xx[15];

  xx[88] = xx[48];

  xx[89] = xx[49];

  pm_math_cross3(xx + 84, xx + 87, xx + 90);

  xx[40] = xx[61] * xx[6];

  xx[60] = xx[61] * xx[8];

  xx[61] = xx[103] + xx[94];

  xx[87] = xx[40];

  xx[88] = - xx[60];

  xx[89] = xx[61];

  pm_math_cross3(xx + 84, xx + 87, xx + 93);

  xx[84] = (xx[15] * xx[41] + xx[90]) * xx[4] + (xx[40] * xx[41] + xx[93]) * xx

    [4] - motionData[474] + xx[8];

  xx[85] = motionData[473] + (xx[48] * xx[41] + xx[91]) * xx[4] + xx[4] * (xx[94]

    - xx[60] * xx[41]) + xx[6];

  xx[86] = (xx[41] * xx[49] + xx[92]) * xx[4] + (xx[61] * xx[41] + xx[95]) * xx

    [4];

  pm_math_quatXform(xx + 36, xx + 84, xx + 60);

  xx[15] = xx[2] * state[30];

  xx[36] = cos(xx[15]);

  xx[37] = sin(xx[15]);

  xx[38] = xx[36] * motionData[217] - xx[37] * motionData[220];

  xx[39] = xx[36] * motionData[218] + xx[37] * motionData[219];

  xx[40] = xx[36] * motionData[219] - xx[37] * motionData[218];

  xx[41] = xx[37] * motionData[217] + xx[36] * motionData[220];

  xx[84] = motionData[77];

  xx[85] = motionData[78];

  xx[86] = motionData[79];

  xx[87] = motionData[80];

  pm_math_quatCompose(xx + 38, xx + 84, xx + 88);

  xx[38] = xx[4] * (motionData[78] * motionData[80] - motionData[77] *

                    motionData[79]);

  xx[39] = (motionData[77] * motionData[78] + motionData[79] * motionData[80]) *

    xx[4];

  xx[40] = xx[5] - (motionData[78] * motionData[78] + motionData[79] *

                    motionData[79]) * xx[4];

  pm_math_cross3(xx + 38, xx + 16, xx + 84);

  pm_math_quatXform(xx + 88, xx + 84, xx + 15);

  xx[18] = xx[37] * motionData[82];

  xx[38] = xx[37] * motionData[81];

  xx[39] = 0.02540000000000185;

  xx[40] = xx[39] * xx[37];

  xx[41] = xx[4] * (xx[18] * xx[37] - xx[36] * xx[38]) - motionData[82] + xx[4] *

    xx[36] * xx[40];

  xx[84] = motionData[218];

  xx[85] = motionData[219];

  xx[86] = motionData[220];

  xx[48] = motionData[81] - ((xx[36] * xx[18] + xx[38] * xx[37]) * xx[4] - xx[4]

    * xx[40] * xx[37]) - xx[39];

  xx[18] = xx[48] * motionData[220];

  xx[36] = xx[41] * motionData[220];

  xx[37] = xx[48] * motionData[218] - xx[41] * motionData[219];

  xx[38] = - xx[18];

  xx[39] = xx[36];

  xx[40] = xx[37];

  pm_math_cross3(xx + 84, xx + 38, xx + 87);

  xx[90] = motionData[224];

  xx[91] = motionData[225];

  xx[92] = motionData[226];

  xx[93] = motionData[227];

  xx[38] = 0.6123724356957949;

  xx[39] = xx[2] * state[40];

  xx[40] = sin(xx[39]);

  xx[49] = xx[38] * xx[40];

  xx[63] = cos(xx[39]);

  xx[39] = xx[38] * xx[63];

  xx[38] = xx[49] - xx[39];

  xx[65] = 0.3535533905932732;

  xx[69] = xx[65] * xx[63];

  xx[63] = xx[65] * xx[40];

  xx[40] = xx[69] + xx[63];

  xx[65] = - xx[40];

  xx[73] = xx[63] - xx[69];

  xx[63] = xx[49] + xx[39];

  xx[39] = - xx[63];

  xx[110] = xx[38];

  xx[111] = xx[65];

  xx[112] = xx[73];

  xx[113] = xx[39];

  pm_math_quatCompose(xx + 90, xx + 110, xx + 114);

  xx[49] = xx[6] * xx[117];

  xx[69] = xx[8] * xx[116] - xx[6] * xx[115];

  xx[84] = xx[49];

  xx[85] = - (xx[8] * xx[117]);

  xx[86] = xx[69];

  pm_math_cross3(xx + 115, xx + 84, xx + 110);

  xx[74] = 5.088251355846174e-12;

  xx[84] = xx[65];

  xx[85] = xx[73];

  xx[86] = xx[39];

  xx[39] = 7.483145982728478e-12;

  xx[65] = xx[63] * xx[39];

  xx[94] = xx[63] * xx[74];

  xx[63] = xx[40] * xx[39] + xx[74] * xx[73];

  xx[118] = xx[65];

  xx[119] = - xx[94];

  xx[120] = - xx[63];

  pm_math_cross3(xx + 84, xx + 118, xx + 121);

  xx[84] = xx[74] + xx[4] * (xx[121] + xx[65] * xx[38]);

  xx[85] = xx[39] + (xx[122] - xx[94] * xx[38]) * xx[4];

  xx[86] = (xx[123] - xx[63] * xx[38]) * xx[4];

  pm_math_quatXform(xx + 90, xx + 84, xx + 38);

  xx[63] = 0.04233709306330295;

  xx[65] = xx[2] * state[42];

  xx[73] = cos(xx[65]);

  xx[74] = 0.04233598682685397;

  xx[84] = sin(xx[65]);

  xx[65] = xx[63] * xx[73] + xx[74] * xx[84];

  xx[85] = 0.7058357201813958;

  xx[86] = 0.7058407546227096;

  xx[90] = xx[85] * xx[84] - xx[86] * xx[73];

  xx[91] = xx[85] * xx[73] + xx[86] * xx[84];

  xx[85] = xx[63] * xx[84] - xx[74] * xx[73];

  xx[92] = xx[65];

  xx[93] = xx[90];

  xx[94] = xx[91];

  xx[95] = xx[85];

  xx[118] = motionData[462];

  xx[119] = motionData[463];

  xx[120] = motionData[464];

  xx[121] = motionData[465];

  pm_math_quatCompose(xx + 92, xx + 118, xx + 122);

  xx[92] = xx[4] * (motionData[463] * motionData[465] - motionData[462] *

                    motionData[464]);

  xx[93] = (motionData[462] * motionData[463] + motionData[464] * motionData[465])

    * xx[4];

  xx[94] = xx[5] - (motionData[463] * motionData[463] + motionData[464] *

                    motionData[464]) * xx[4];

  xx[63] = 3.641924106626229e-8;

  xx[73] = 0.04574999999998041;

  xx[74] = 2.92603149291605e-7;

  xx[118] = xx[63];

  xx[119] = xx[73];

  xx[120] = xx[74];

  pm_math_cross3(xx + 92, xx + 118, xx + 126);

  pm_math_quatXform(xx + 122, xx + 126, xx + 92);

  xx[121] = xx[90];

  xx[122] = xx[91];

  xx[123] = xx[85];

  xx[84] = xx[85] * motionData[466];

  xx[86] = xx[85] * motionData[467];

  xx[95] = xx[90] * motionData[466] + xx[91] * motionData[467];

  xx[124] = - xx[84];

  xx[125] = - xx[86];

  xx[126] = xx[95];

  pm_math_cross3(xx + 121, xx + 124, xx + 127);

  xx[102] = xx[90] * xx[19];

  xx[103] = xx[85] * xx[19];

  xx[113] = xx[2] * state[44];

  xx[2] = cos(xx[113]);

  xx[115] = sin(xx[113]);

  xx[121] = xx[2] * motionData[85] - xx[115] * motionData[86];

  xx[122] = - (xx[2] * motionData[84] + xx[115] * motionData[87]);

  xx[123] = xx[115] * motionData[84] - xx[2] * motionData[87];

  xx[124] = xx[115] * motionData[85] + xx[2] * motionData[86];

  xx[130] = motionData[98];

  xx[131] = motionData[99];

  xx[132] = motionData[100];

  xx[133] = motionData[101];

  pm_math_quatCompose(xx + 121, xx + 130, xx + 134);

  xx[121] = xx[4] * (motionData[99] * motionData[101] - motionData[98] *

                     motionData[100]);

  xx[122] = (motionData[98] * motionData[99] + motionData[100] * motionData[101])

    * xx[4];

  xx[123] = xx[5] - (motionData[99] * motionData[99] + motionData[100] *

                     motionData[100]) * xx[4];

  pm_math_cross3(xx + 121, xx + 118, xx + 124);

  pm_math_quatXform(xx + 134, xx + 124, xx + 118);

  xx[5] = xx[115] * motionData[103] - xx[2] * motionData[102];

  xx[113] = 3.107391981487723e-12;

  xx[116] = 9.83617579279345e-12;

  xx[121] = xx[113] * xx[2] + xx[116] * xx[115];

  xx[122] = xx[4] * xx[115] * xx[5] - (motionData[103] - xx[4] * xx[121] * xx

    [115]) - xx[116];

  xx[123] = motionData[85];

  xx[124] = motionData[86];

  xx[125] = motionData[87];

  xx[115] = motionData[102] + xx[4] * xx[2] * xx[5] + xx[4] * xx[121] * xx[2] -

    xx[113];

  xx[2] = xx[115] * motionData[87];

  xx[5] = xx[122] * motionData[87];

  xx[113] = xx[115] * motionData[85] - xx[122] * motionData[86];

  xx[130] = - xx[2];

  xx[131] = xx[5];

  xx[132] = xx[113];

  pm_math_cross3(xx + 123, xx + 130, xx + 133);

  xx[123] = motionData[441];

  xx[124] = motionData[442];

  xx[125] = motionData[443];

  xx[126] = motionData[444];

  xx[116] = xx[33] * state[49] - xx[34] * state[46];

  xx[121] = xx[33] * state[48] + xx[34] * state[47];

  xx[130] = - xx[121];

  xx[131] = xx[34] * state[48] - xx[33] * state[47];

  xx[132] = - xx[131];

  xx[136] = xx[33] * state[46] + xx[34] * state[49];

  xx[33] = - xx[136];

  xx[137] = xx[116];

  xx[138] = xx[130];

  xx[139] = xx[132];

  xx[140] = xx[33];

  pm_math_quatCompose(xx + 123, xx + 137, xx + 141);

  xx[34] = - 2.329268144978725e-13;

  xx[145] = xx[34];

  xx[146] = - xx[74];

  xx[147] = 0.0457500000000094;

  pm_math_quatXform(xx + 141, xx + 145, xx + 148);

  pm_math_quatXform(xx + 137, xx + 75, xx + 145);

  pm_math_quatXform(xx + 123, xx + 145, xx + 75);

  xx[145] = xx[74];

  xx[146] = xx[34];

  xx[147] = 5.855191459023036e-14;

  pm_math_quatXform(xx + 141, xx + 145, xx + 151);

  pm_math_quatXform(xx + 137, xx + 78, xx + 145);

  pm_math_quatXform(xx + 123, xx + 145, xx + 78);

  xx[34] = xx[63] * xx[144];

  xx[74] = xx[63] * xx[142] + xx[73] * xx[143];

  xx[137] = - xx[34];

  xx[138] = - (xx[73] * xx[144]);

  xx[139] = xx[74];

  pm_math_cross3(xx + 142, xx + 137, xx + 145);

  xx[137] = xx[130];

  xx[138] = xx[132];

  xx[139] = xx[33];

  xx[33] = xx[53] * xx[136];

  xx[130] = xx[64] * xx[136];

  xx[132] = xx[53] * xx[121] + xx[131] * xx[64];

  xx[154] = xx[33];

  xx[155] = xx[130];

  xx[156] = - xx[132];

  pm_math_cross3(xx + 137, xx + 154, xx + 157);

  xx[136] = xx[4] * (xx[157] + xx[33] * xx[116]) - xx[64];

  xx[137] = xx[53] + (xx[130] * xx[116] + xx[158]) * xx[4];

  xx[138] = (xx[159] - xx[132] * xx[116]) * xx[4];

  pm_math_quatXform(xx + 123, xx + 136, xx + 130);

  J[6] = xx[12] + motionData[495] + (xx[26] - xx[3] * xx[1]) * xx[4] + xx[4] *

    (xx[11] * xx[20] - xx[3] * xx[21]);

  J[7] = xx[29] + xx[35] + xx[4] * (xx[42] - xx[23] * motionData[14]);

  J[8] = xx[66] + xx[70];

  J[9] = xx[54] + xx[57];

  J[10] = xx[50] + xx[45];

  J[11] = xx[81] + xx[96];

  J[12] = xx[99] + xx[104];

  J[13] = xx[107] + xx[60];

  J[14] = xx[15] + xx[41] + xx[4] * (xx[87] - xx[18] * motionData[217]);

  J[19] = xx[4] * (xx[110] + xx[114] * xx[49]) + xx[38] - xx[8];

  J[20] = - (xx[92] + xx[4] * (xx[127] - xx[84] * xx[65]) - motionData[467] +

             xx[4] * (xx[102] * xx[91] - xx[103] * xx[65]));

  J[21] = - (xx[118] + xx[122] + xx[4] * (xx[133] - xx[2] * motionData[84]));

  J[22] = - (xx[148] + xx[75]);

  J[23] = - (xx[151] + xx[78]);

  J[24] = - (xx[4] * (xx[145] - xx[141] * xx[34]) + xx[130] - xx[73]);

  J[51] = xx[13] + (xx[27] - xx[3] * xx[10]) * xx[4] - (motionData[494] - (xx[21]

    * xx[7] + xx[20] * xx[9]) * xx[4]) - xx[19];

  J[52] = xx[30] + xx[25] + (xx[24] * motionData[14] + xx[43]) * xx[4];

  J[53] = xx[67] + xx[71];

  J[54] = xx[55] + xx[58];

  J[55] = xx[51] + xx[46];

  J[56] = xx[82] + xx[97];

  J[57] = xx[100] + xx[105];

  J[58] = xx[108] + xx[61];

  J[59] = xx[16] + xx[48] + (xx[36] * motionData[217] + xx[88]) * xx[4];

  J[64] = (xx[111] - xx[8] * xx[114] * xx[117]) * xx[4] + xx[39] - xx[6];

  J[65] = - (xx[93] + motionData[466] + xx[4] * (xx[128] - xx[86] * xx[65]) -

             (xx[85] * xx[103] + xx[90] * xx[102]) * xx[4] + xx[19]);

  J[66] = - (xx[119] + xx[115] + (xx[5] * motionData[84] + xx[134]) * xx[4]);

  J[67] = - (xx[149] + xx[76]);

  J[68] = - (xx[152] + xx[79]);

  J[69] = - ((xx[146] - xx[73] * xx[141] * xx[144]) * xx[4] + xx[131] + xx[63]);

  J[96] = xx[14] + xx[4] * (xx[28] - xx[3] * xx[22]) + (xx[3] * xx[20] + xx[11] *

    xx[21]) * xx[4];

  J[97] = xx[31] + (xx[32] * motionData[14] + xx[44]) * xx[4];

  J[98] = xx[68] + xx[72];

  J[99] = xx[56] + xx[59];

  J[100] = xx[52] + xx[47];

  J[101] = xx[83] + xx[98];

  J[102] = xx[101] + xx[106];

  J[103] = xx[109] + xx[62];

  J[104] = xx[17] + (xx[37] * motionData[217] + xx[89]) * xx[4];

  J[109] = (xx[114] * xx[69] + xx[112]) * xx[4] + xx[40];

  J[110] = - (xx[94] + (xx[95] * xx[65] + xx[129]) * xx[4] + (xx[102] * xx[65] +

    xx[103] * xx[91]) * xx[4]);

  J[111] = - (xx[120] + (xx[113] * motionData[84] + xx[135]) * xx[4]);

  J[112] = - (xx[150] + xx[77]);

  J[113] = - (xx[153] + xx[80]);

  J[114] = - ((xx[141] * xx[74] + xx[147]) * xx[4] + xx[132]);

  return 3;

}



size_t PlatformAssem_f0ca4364_1_computeAssemblyJacobian(const void *mech, const

  double *rtdv, size_t constraintIdx, boolean_T forVelocitySatisfaction, const

  double *state, const double *motionData, double *J)

{

  (void) mech;

  (void) rtdv;

  (void) state;

  (void) forVelocitySatisfaction;

  (void) motionData;

  (void) J;

  switch (constraintIdx)

  {

   case 0:

    return computeAssemblyJacobian_0(rtdv, state, motionData, J);



   case 1:

    return computeAssemblyJacobian_1(rtdv, state, motionData, J);



   case 2:

    return computeAssemblyJacobian_2(rtdv, state, motionData, J);



   case 3:

    return computeAssemblyJacobian_3(rtdv, state, motionData, J);



   case 4:

    return computeAssemblyJacobian_4(rtdv, state, motionData, J);

  }



  return 0;

}



size_t PlatformAssem_f0ca4364_1_computeFullAssemblyJacobian(const void *mech,

  const double *rtdv, const double *state, const double *motionData, double *J)

{

  double xx[674];

  (void) mech;

  (void) rtdv;

  xx[0] = 0.0;

  xx[1] = 0.3895853754265615;

  xx[2] = 0.5;

  xx[3] = xx[2] * state[12];

  xx[4] = cos(xx[3]);

  xx[5] = 0.389581900177037;

  xx[6] = sin(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = 0.5901074779979933;

  xx[8] = 0.5901036711621462;

  xx[9] = xx[7] * xx[4] + xx[8] * xx[6];

  xx[10] = - xx[9];

  xx[11] = xx[8] * xx[4] - xx[7] * xx[6];

  xx[7] = xx[5] * xx[4] + xx[1] * xx[6];

  xx[1] = - xx[7];

  xx[12] = xx[3];

  xx[13] = xx[10];

  xx[14] = xx[11];

  xx[15] = xx[1];

  xx[16] = motionData[266];

  xx[17] = motionData[267];

  xx[18] = motionData[268];

  xx[19] = motionData[269];

  pm_math_quatCompose(xx + 12, xx + 16, xx + 20);

  xx[4] = 2.0;

  xx[5] = 1.0;

  xx[16] = xx[4] * (motionData[266] * motionData[268] - motionData[267] *

                    motionData[269]);

  xx[17] = - ((motionData[266] * motionData[267] + motionData[268] * motionData

               [269]) * xx[4]);

  xx[18] = (motionData[267] * motionData[267] + motionData[268] * motionData[268])

    * xx[4] - xx[5];

  xx[6] = 7.599121945184391e-12;

  xx[8] = 5.036130209737022e-12;

  xx[19] = 5.192027881355888e-12;

  xx[24] = - xx[6];

  xx[25] = xx[8];

  xx[26] = - xx[19];

  pm_math_cross3(xx + 16, xx + 24, xx + 27);

  pm_math_quatXform(xx + 20, xx + 27, xx + 16);

  xx[20] = xx[10];

  xx[21] = xx[11];

  xx[22] = xx[1];

  xx[1] = xx[7] * motionData[270];

  xx[10] = xx[7] * motionData[271];

  xx[23] = xx[11] * motionData[271] - xx[9] * motionData[270];

  xx[27] = - xx[1];

  xx[28] = - xx[10];

  xx[29] = - xx[23];

  pm_math_cross3(xx + 20, xx + 27, xx + 30);

  xx[27] = 0.02520954632904373;

  xx[28] = xx[27] * xx[9];

  xx[29] = xx[27] * xx[7];

  xx[33] = xx[4] * (xx[11] * xx[28] - xx[3] * xx[29]);

  xx[34] = xx[2] * state[14];

  xx[35] = cos(xx[34]);

  xx[36] = sin(xx[34]);

  xx[37] = xx[35] * motionData[15] - xx[36] * motionData[16];

  xx[38] = - (xx[35] * motionData[14] + xx[36] * motionData[17]);

  xx[39] = xx[36] * motionData[14] - xx[35] * motionData[17];

  xx[40] = xx[36] * motionData[15] + xx[35] * motionData[16];

  xx[41] = motionData[259];

  xx[42] = motionData[260];

  xx[43] = motionData[261];

  xx[44] = motionData[262];

  pm_math_quatCompose(xx + 37, xx + 41, xx + 45);

  xx[41] = xx[4] * (motionData[260] * motionData[262] - motionData[259] *

                    motionData[261]);

  xx[42] = (motionData[259] * motionData[260] + motionData[261] * motionData[262])

    * xx[4];

  xx[43] = xx[5] - (motionData[260] * motionData[260] + motionData[261] *

                    motionData[261]) * xx[4];

  pm_math_cross3(xx + 41, xx + 24, xx + 49);

  pm_math_quatXform(xx + 45, xx + 49, xx + 41);

  xx[34] = xx[36] * motionData[264] - xx[35] * motionData[263];

  xx[44] = 7.748428954013064e-12;

  xx[45] = 5.376764528053357e-12;

  xx[46] = xx[44] * xx[35] - xx[45] * xx[36];

  xx[47] = xx[4] * xx[46] * xx[36];

  xx[48] = xx[4] * xx[36] * xx[34] - (motionData[264] + xx[47]) - xx[45];

  xx[49] = motionData[15];

  xx[50] = motionData[16];

  xx[51] = motionData[17];

  xx[52] = xx[4] * xx[46] * xx[35];

  xx[46] = motionData[263] + xx[4] * xx[35] * xx[34] - xx[52] + xx[44];

  xx[34] = xx[46] * motionData[17];

  xx[53] = xx[48] * motionData[17];

  xx[54] = xx[46] * motionData[15] - xx[48] * motionData[16];

  xx[55] = - xx[34];

  xx[56] = xx[53];

  xx[57] = xx[54];

  pm_math_cross3(xx + 49, xx + 55, xx + 58);

  xx[61] = motionData[203];

  xx[62] = motionData[204];

  xx[63] = motionData[205];

  xx[64] = motionData[206];

  xx[55] = 3.980251324392935e-7;

  xx[56] = 0.999999999999921;

  xx[57] = xx[55] * state[19] - xx[56] * state[16];

  xx[65] = xx[55] * state[18] + xx[56] * state[17];

  xx[66] = - xx[65];

  xx[67] = xx[56] * state[18] - xx[55] * state[17];

  xx[68] = - xx[67];

  xx[69] = xx[55] * state[16] + xx[56] * state[19];

  xx[70] = - xx[69];

  xx[71] = xx[57];

  xx[72] = xx[66];

  xx[73] = xx[68];

  xx[74] = xx[70];

  pm_math_quatCompose(xx + 61, xx + 71, xx + 75);

  xx[79] = motionData[252];

  xx[80] = motionData[253];

  xx[81] = motionData[254];

  xx[82] = motionData[255];

  pm_math_quatCompose(xx + 75, xx + 79, xx + 83);

  xx[79] = motionData[253];

  xx[80] = motionData[254];

  xx[81] = motionData[255];

  xx[82] = 7.960502648785241e-7;

  xx[87] = xx[82] * motionData[255];

  xx[88] = xx[82] * motionData[253] + motionData[254];

  xx[89] = xx[87];

  xx[90] = motionData[255];

  xx[91] = - xx[88];

  pm_math_cross3(xx + 79, xx + 89, xx + 92);

  xx[89] = motionData[252] * motionData[255];

  xx[95] = xx[5] + (xx[92] - xx[87] * motionData[252]) * xx[4];

  xx[96] = xx[4] * (xx[93] - xx[89]) - xx[82];

  xx[97] = xx[4] * (xx[94] + xx[88] * motionData[252]);

  pm_math_cross3(xx + 95, xx + 24, xx + 90);

  pm_math_quatXform(xx + 83, xx + 90, xx + 93);

  xx[88] = - (xx[82] * motionData[258]);

  xx[90] = xx[88];

  xx[91] = - motionData[258];

  xx[92] = motionData[257] + xx[82] * motionData[256];

  pm_math_quatXform(xx + 71, xx + 90, xx + 96);

  xx[90] = 2.329280111075767e-13;

  xx[91] = 2.926046524751139e-7;

  xx[99] = xx[90];

  xx[100] = xx[91];

  xx[101] = 0.04575000000718987;

  pm_math_quatXform(xx + 71, xx + 99, xx + 102);

  xx[105] = xx[96] + xx[102];

  xx[106] = xx[97] + xx[103];

  xx[107] = xx[98] + xx[104];

  pm_math_quatXform(xx + 61, xx + 105, xx + 96);

  xx[92] = motionData[253] - xx[82] * motionData[254];

  xx[105] = - motionData[255];

  xx[106] = xx[87];

  xx[107] = xx[92];

  pm_math_cross3(xx + 79, xx + 105, xx + 108);

  xx[79] = xx[82] + (xx[89] + xx[108]) * xx[4];

  xx[80] = xx[5] + xx[4] * (xx[109] - xx[82] * xx[89]);

  xx[81] = xx[4] * (xx[110] - xx[92] * motionData[252]);

  pm_math_cross3(xx + 79, xx + 24, xx + 105);

  pm_math_quatXform(xx + 83, xx + 105, xx + 79);

  xx[105] = motionData[258];

  xx[106] = xx[88];

  xx[107] = xx[82] * motionData[257] - motionData[256];

  pm_math_quatXform(xx + 71, xx + 105, xx + 87);

  xx[105] = - xx[91];

  xx[106] = xx[90];

  xx[107] = 7.670997177269469e-12;

  pm_math_quatXform(xx + 71, xx + 105, xx + 90);

  xx[108] = xx[87] + xx[90];

  xx[109] = xx[88] + xx[91];

  xx[110] = xx[89] + xx[92];

  pm_math_quatXform(xx + 61, xx + 108, xx + 87);

  xx[108] = xx[4] * (motionData[253] * motionData[255] - motionData[252] *

                     motionData[254]);

  xx[109] = (motionData[252] * motionData[253] + motionData[254] * motionData

             [255]) * xx[4];

  xx[110] = xx[5] - (motionData[253] * motionData[253] + motionData[254] *

                     motionData[254]) * xx[4];

  pm_math_cross3(xx + 108, xx + 24, xx + 111);

  pm_math_quatXform(xx + 83, xx + 111, xx + 108);

  xx[83] = xx[66];

  xx[84] = xx[68];

  xx[85] = xx[70];

  xx[66] = xx[69] * motionData[256];

  xx[68] = xx[69] * motionData[257];

  xx[70] = xx[65] * motionData[256] + xx[67] * motionData[257];

  xx[111] = xx[66];

  xx[112] = xx[68];

  xx[113] = - xx[70];

  pm_math_cross3(xx + 83, xx + 111, xx + 114);

  xx[86] = 3.641162862673871e-8;

  xx[111] = xx[86] * xx[69];

  xx[112] = 0.04575000000717538;

  xx[113] = xx[112] * xx[69];

  xx[117] = xx[86] * xx[65] + xx[67] * xx[112];

  xx[118] = xx[111];

  xx[119] = xx[113];

  xx[120] = - xx[117];

  pm_math_cross3(xx + 83, xx + 118, xx + 121);

  xx[118] = xx[4] * (xx[121] + xx[111] * xx[57]);

  xx[111] = (xx[113] * xx[57] + xx[122]) * xx[4];

  xx[113] = (xx[123] - xx[117] * xx[57]) * xx[4];

  xx[119] = xx[4] * (xx[114] + xx[66] * xx[57]) + xx[118] - motionData[257] -

    xx[112];

  xx[120] = motionData[256] + xx[4] * (xx[115] + xx[68] * xx[57]) + xx[111] +

    xx[86];

  xx[121] = (xx[116] - xx[57] * xx[70]) * xx[4] + xx[113];

  pm_math_quatXform(xx + 61, xx + 119, xx + 114);

  xx[119] = motionData[210];

  xx[120] = motionData[211];

  xx[121] = motionData[212];

  xx[122] = motionData[213];

  xx[66] = 3.980251340548381e-7;

  xx[68] = xx[56] * state[26] - xx[66] * state[23];

  xx[70] = xx[56] * state[25] - xx[66] * state[24];

  xx[117] = xx[66] * state[25] + xx[56] * state[24];

  xx[123] = - xx[117];

  xx[124] = xx[66] * state[26] + xx[56] * state[23];

  xx[66] = - xx[124];

  xx[125] = xx[68];

  xx[126] = xx[70];

  xx[127] = xx[123];

  xx[128] = xx[66];

  pm_math_quatCompose(xx + 119, xx + 125, xx + 129);

  xx[125] = motionData[245];

  xx[126] = motionData[246];

  xx[127] = motionData[247];

  xx[128] = motionData[248];

  pm_math_quatCompose(xx + 129, xx + 125, xx + 133);

  xx[125] = motionData[247] * motionData[247];

  xx[126] = motionData[248] * motionData[248];

  xx[127] = motionData[246] * motionData[247];

  xx[128] = motionData[245] * motionData[248];

  xx[137] = motionData[245] * motionData[247];

  xx[138] = motionData[246] * motionData[248];

  xx[139] = xx[5] - (xx[125] + xx[126]) * xx[4];

  xx[140] = xx[4] * (xx[127] - xx[128]);

  xx[141] = (xx[137] + xx[138]) * xx[4];

  pm_math_cross3(xx + 139, xx + 24, xx + 142);

  pm_math_quatXform(xx + 133, xx + 142, xx + 139);

  xx[142] = xx[70];

  xx[143] = xx[123];

  xx[144] = xx[66];

  xx[66] = xx[117] * motionData[250];

  xx[123] = xx[124] * motionData[251];

  xx[145] = xx[66] + xx[123];

  xx[146] = xx[70] * motionData[250];

  xx[147] = xx[70] * motionData[251];

  xx[148] = - xx[145];

  xx[149] = - xx[146];

  xx[150] = - xx[147];

  pm_math_cross3(xx + 142, xx + 148, xx + 151);

  xx[148] = xx[117] * xx[8];

  xx[149] = xx[124] * xx[19];

  xx[150] = xx[148] - xx[149];

  xx[154] = xx[8] * xx[70];

  xx[155] = xx[19] * xx[70];

  xx[156] = xx[150];

  xx[157] = xx[154];

  xx[158] = - xx[155];

  pm_math_cross3(xx + 142, xx + 156, xx + 159);

  xx[156] = (xx[68] * xx[150] + xx[159]) * xx[4];

  xx[150] = xx[4] * (xx[160] + xx[154] * xx[68]);

  xx[154] = (xx[161] - xx[155] * xx[68]) * xx[4];

  xx[157] = xx[4] * (xx[151] - xx[145] * xx[68]) + xx[156];

  xx[158] = xx[4] * (xx[152] - xx[146] * xx[68]) + xx[150] - motionData[251] -

    xx[19];

  xx[159] = motionData[250] + xx[4] * (xx[153] - xx[147] * xx[68]) + xx[154] -

    xx[8];

  pm_math_quatXform(xx + 119, xx + 157, xx + 145);

  xx[151] = motionData[246] * motionData[246];

  xx[152] = motionData[247] * motionData[248];

  xx[153] = motionData[245] * motionData[246];

  xx[157] = (xx[128] + xx[127]) * xx[4];

  xx[158] = xx[5] - (xx[126] + xx[151]) * xx[4];

  xx[159] = xx[4] * (xx[152] - xx[153]);

  pm_math_cross3(xx + 157, xx + 24, xx + 126);

  pm_math_quatXform(xx + 133, xx + 126, xx + 157);

  xx[126] = xx[117] * motionData[249];

  xx[127] = xx[70] * motionData[249];

  xx[128] = xx[127] - xx[123];

  xx[123] = xx[117] * motionData[251];

  xx[160] = xx[126];

  xx[161] = xx[128];

  xx[162] = xx[123];

  pm_math_cross3(xx + 142, xx + 160, xx + 163);

  xx[155] = xx[117] * xx[6];

  xx[160] = xx[6] * xx[70];

  xx[161] = xx[149] - xx[160];

  xx[149] = xx[117] * xx[19];

  xx[166] = xx[155];

  xx[167] = - xx[161];

  xx[168] = xx[149];

  pm_math_cross3(xx + 142, xx + 166, xx + 169);

  xx[162] = xx[4] * (xx[169] + xx[155] * xx[68]);

  xx[155] = xx[4] * (xx[170] - xx[161] * xx[68]);

  xx[161] = (xx[149] * xx[68] + xx[171]) * xx[4];

  xx[166] = motionData[251] + (xx[126] * xx[68] + xx[163]) * xx[4] + xx[162] +

    xx[19];

  xx[167] = (xx[68] * xx[128] + xx[164]) * xx[4] + xx[155];

  xx[168] = (xx[123] * xx[68] + xx[165]) * xx[4] + xx[161] - motionData[249] -

    xx[6];

  pm_math_quatXform(xx + 119, xx + 166, xx + 163);

  xx[166] = xx[4] * (xx[138] - xx[137]);

  xx[167] = (xx[153] + xx[152]) * xx[4];

  xx[168] = xx[5] - (xx[151] + xx[125]) * xx[4];

  pm_math_cross3(xx + 166, xx + 24, xx + 151);

  pm_math_quatXform(xx + 133, xx + 151, xx + 166);

  xx[123] = xx[124] * motionData[249];

  xx[125] = xx[124] * motionData[250];

  xx[126] = xx[127] - xx[66];

  xx[133] = xx[123];

  xx[134] = xx[125];

  xx[135] = xx[126];

  pm_math_cross3(xx + 142, xx + 133, xx + 136);

  xx[66] = xx[124] * xx[6];

  xx[127] = xx[124] * xx[8];

  xx[128] = xx[160] + xx[148];

  xx[133] = xx[66];

  xx[134] = - xx[127];

  xx[135] = xx[128];

  pm_math_cross3(xx + 142, xx + 133, xx + 151);

  xx[133] = (xx[66] * xx[68] + xx[151]) * xx[4];

  xx[66] = xx[4] * (xx[152] - xx[127] * xx[68]);

  xx[127] = (xx[128] * xx[68] + xx[153]) * xx[4];

  xx[151] = (xx[123] * xx[68] + xx[136]) * xx[4] + xx[133] - motionData[250] +

    xx[8];

  xx[152] = motionData[249] + (xx[125] * xx[68] + xx[137]) * xx[4] + xx[66] +

    xx[6];

  xx[153] = (xx[68] * xx[126] + xx[138]) * xx[4] + xx[127];

  pm_math_quatXform(xx + 119, xx + 151, xx + 134);

  xx[123] = xx[2] * state[30];

  xx[125] = cos(xx[123]);

  xx[126] = sin(xx[123]);

  xx[169] = xx[125] * motionData[217] - xx[126] * motionData[220];

  xx[170] = xx[125] * motionData[218] + xx[126] * motionData[219];

  xx[171] = xx[125] * motionData[219] - xx[126] * motionData[218];

  xx[172] = xx[126] * motionData[217] + xx[125] * motionData[220];

  xx[173] = motionData[49];

  xx[174] = motionData[50];

  xx[175] = motionData[51];

  xx[176] = motionData[52];

  pm_math_quatCompose(xx + 169, xx + 173, xx + 177);

  xx[151] = xx[4] * (motionData[50] * motionData[52] - motionData[49] *

                     motionData[51]);

  xx[152] = (motionData[49] * motionData[50] + motionData[51] * motionData[52]) *

    xx[4];

  xx[153] = xx[5] - (motionData[50] * motionData[50] + motionData[51] *

                     motionData[51]) * xx[4];

  pm_math_cross3(xx + 151, xx + 24, xx + 173);

  pm_math_quatXform(xx + 177, xx + 173, xx + 151);

  xx[123] = xx[126] * motionData[54];

  xx[128] = xx[126] * motionData[53];

  xx[137] = 0.02540000000000185;

  xx[138] = xx[137] * xx[126];

  xx[148] = xx[4] * xx[125] * xx[138];

  xx[149] = xx[4] * (xx[123] * xx[126] - xx[125] * xx[128]) - motionData[54] +

    xx[148];

  xx[173] = motionData[218];

  xx[174] = motionData[219];

  xx[175] = motionData[220];

  xx[160] = xx[4] * xx[138] * xx[126];

  xx[138] = motionData[53] - ((xx[125] * xx[123] + xx[128] * xx[126]) * xx[4] -

    xx[160]) - xx[137];

  xx[123] = xx[138] * motionData[220];

  xx[128] = xx[149] * motionData[220];

  xx[176] = xx[138] * motionData[218] - xx[149] * motionData[219];

  xx[177] = - xx[123];

  xx[178] = xx[128];

  xx[179] = xx[176];

  pm_math_cross3(xx + 173, xx + 177, xx + 180);

  xx[177] = xx[2] * state[32];

  xx[178] = cos(xx[177]);

  xx[179] = sin(xx[177]);

  xx[177] = xx[178] * motionData[225] - xx[179] * motionData[226];

  xx[183] = xx[178] * motionData[226] + xx[179] * motionData[225];

  xx[184] = xx[178] * motionData[227] - xx[179] * motionData[224];

  xx[185] = xx[177];

  xx[186] = xx[183];

  xx[187] = xx[184];

  xx[188] = xx[6] * xx[184];

  xx[189] = xx[8] * xx[184];

  xx[184] = xx[6] * xx[177] - xx[183] * xx[8];

  xx[190] = - xx[188];

  xx[191] = xx[189];

  xx[192] = xx[184];

  pm_math_cross3(xx + 185, xx + 190, xx + 193);

  xx[177] = xx[178] * motionData[224] + xx[179] * motionData[227];

  xx[183] = 2.191920996097441e-12;

  xx[185] = xx[183] * xx[179];

  xx[186] = 3.368449963403463e-13;

  xx[187] = xx[186] * xx[179];

  xx[190] = xx[4] * (xx[185] * xx[179] - xx[178] * xx[187]) - xx[183];

  xx[196] = motionData[225];

  xx[197] = motionData[226];

  xx[198] = motionData[227];

  xx[183] = (xx[178] * xx[185] + xx[187] * xx[179]) * xx[4] - xx[186];

  xx[178] = xx[183] * motionData[227];

  xx[179] = xx[190] * motionData[227];

  xx[185] = xx[183] * motionData[225] - xx[190] * motionData[226];

  xx[199] = - xx[178];

  xx[200] = xx[179];

  xx[201] = xx[185];

  pm_math_cross3(xx + 196, xx + 199, xx + 202);

  xx[186] = 0.389585375426561;

  xx[187] = xx[2] * state[64];

  xx[191] = cos(xx[187]);

  xx[192] = 0.3895819001770367;

  xx[196] = sin(xx[187]);

  xx[187] = xx[186] * xx[191] - xx[192] * xx[196];

  xx[197] = 0.5901074779979936;

  xx[198] = 0.5901036711621467;

  xx[199] = xx[197] * xx[191] + xx[198] * xx[196];

  xx[200] = - xx[199];

  xx[201] = xx[198] * xx[191] - xx[197] * xx[196];

  xx[197] = xx[192] * xx[191] + xx[186] * xx[196];

  xx[186] = - xx[197];

  xx[205] = xx[187];

  xx[206] = xx[200];

  xx[207] = xx[201];

  xx[208] = xx[186];

  xx[209] = motionData[238];

  xx[210] = motionData[239];

  xx[211] = motionData[240];

  xx[212] = motionData[241];

  pm_math_quatCompose(xx + 205, xx + 209, xx + 213);

  xx[205] = xx[4] * (motionData[238] * motionData[240] - motionData[239] *

                     motionData[241]);

  xx[206] = - ((motionData[238] * motionData[239] + motionData[240] *

                motionData[241]) * xx[4]);

  xx[207] = (motionData[239] * motionData[239] + motionData[240] * motionData

             [240]) * xx[4] - xx[5];

  xx[191] = 3.641924106626229e-8;

  xx[192] = 0.04574999999998041;

  xx[196] = 2.92603149291605e-7;

  xx[208] = xx[191];

  xx[209] = xx[192];

  xx[210] = xx[196];

  pm_math_cross3(xx + 205, xx + 208, xx + 217);

  pm_math_quatXform(xx + 213, xx + 217, xx + 205);

  xx[211] = xx[200];

  xx[212] = xx[201];

  xx[213] = xx[186];

  xx[186] = xx[197] * motionData[242];

  xx[198] = xx[197] * motionData[243];

  xx[200] = xx[201] * motionData[243] - xx[199] * motionData[242];

  xx[214] = - xx[186];

  xx[215] = - xx[198];

  xx[216] = - xx[200];

  pm_math_cross3(xx + 211, xx + 214, xx + 217);

  xx[211] = xx[27] * xx[199];

  xx[212] = xx[27] * xx[197];

  xx[213] = xx[2] * state[66];

  xx[214] = cos(xx[213]);

  xx[215] = sin(xx[213]);

  xx[220] = xx[214] * motionData[127] - xx[215] * motionData[128];

  xx[221] = - (xx[214] * motionData[126] + xx[215] * motionData[129]);

  xx[222] = xx[215] * motionData[126] - xx[214] * motionData[129];

  xx[223] = xx[215] * motionData[127] + xx[214] * motionData[128];

  xx[224] = motionData[140];

  xx[225] = motionData[141];

  xx[226] = motionData[142];

  xx[227] = motionData[143];

  pm_math_quatCompose(xx + 220, xx + 224, xx + 228);

  xx[220] = xx[4] * (motionData[141] * motionData[143] - motionData[140] *

                     motionData[142]);

  xx[221] = (motionData[140] * motionData[141] + motionData[142] * motionData

             [143]) * xx[4];

  xx[222] = xx[5] - (motionData[141] * motionData[141] + motionData[142] *

                     motionData[142]) * xx[4];

  pm_math_cross3(xx + 220, xx + 208, xx + 223);

  pm_math_quatXform(xx + 228, xx + 223, xx + 220);

  xx[213] = xx[215] * motionData[145] - xx[214] * motionData[144];

  xx[216] = 6.924287580811761e-12;

  xx[223] = 1.024070757638107e-11;

  xx[224] = xx[216] * xx[215] - xx[223] * xx[214];

  xx[225] = xx[4] * xx[215] * xx[213] - (motionData[145] + xx[4] * xx[224] * xx

    [215]) + xx[216];

  xx[226] = motionData[127];

  xx[227] = motionData[128];

  xx[228] = motionData[129];

  xx[215] = motionData[144] + xx[4] * xx[214] * xx[213] - xx[4] * xx[224] * xx

    [214] - xx[223];

  xx[213] = xx[215] * motionData[129];

  xx[214] = xx[225] * motionData[129];

  xx[216] = xx[215] * motionData[127] - xx[225] * motionData[128];

  xx[229] = - xx[213];

  xx[230] = xx[214];

  xx[231] = xx[216];

  pm_math_cross3(xx + 226, xx + 229, xx + 232);

  xx[226] = motionData[189];

  xx[227] = motionData[190];

  xx[228] = motionData[191];

  xx[229] = motionData[192];

  xx[223] = xx[55] * state[71] - xx[56] * state[68];

  xx[224] = xx[55] * state[70] + xx[56] * state[69];

  xx[230] = - xx[224];

  xx[231] = xx[56] * state[70] - xx[55] * state[69];

  xx[235] = - xx[231];

  xx[236] = xx[55] * state[68] + xx[56] * state[71];

  xx[237] = - xx[236];

  xx[238] = xx[223];

  xx[239] = xx[230];

  xx[240] = xx[235];

  xx[241] = xx[237];

  pm_math_quatCompose(xx + 226, xx + 238, xx + 242);

  xx[246] = - 2.329268144978725e-13;

  xx[247] = xx[246];

  xx[248] = - xx[196];

  xx[249] = 0.0457500000000094;

  pm_math_quatXform(xx + 242, xx + 247, xx + 250);

  pm_math_quatXform(xx + 238, xx + 99, xx + 253);

  pm_math_quatXform(xx + 226, xx + 253, xx + 256);

  xx[253] = xx[196];

  xx[254] = xx[246];

  xx[255] = 5.855191459023036e-14;

  pm_math_quatXform(xx + 242, xx + 253, xx + 259);

  pm_math_quatXform(xx + 238, xx + 105, xx + 262);

  pm_math_quatXform(xx + 226, xx + 262, xx + 238);

  xx[196] = xx[191] * xx[245];

  xx[241] = xx[191] * xx[243] + xx[192] * xx[244];

  xx[262] = - xx[196];

  xx[263] = - (xx[192] * xx[245]);

  xx[264] = xx[241];

  pm_math_cross3(xx + 243, xx + 262, xx + 265);

  xx[262] = xx[230];

  xx[263] = xx[235];

  xx[264] = xx[237];

  xx[230] = xx[86] * xx[236];

  xx[235] = xx[112] * xx[236];

  xx[236] = xx[86] * xx[224] + xx[231] * xx[112];

  xx[268] = xx[230];

  xx[269] = xx[235];

  xx[270] = - xx[236];

  pm_math_cross3(xx + 262, xx + 268, xx + 271);

  xx[262] = xx[4] * (xx[271] + xx[230] * xx[223]) - xx[112];

  xx[263] = xx[86] + (xx[235] * xx[223] + xx[272]) * xx[4];

  xx[264] = (xx[273] - xx[236] * xx[223]) * xx[4];

  pm_math_quatXform(xx + 226, xx + 262, xx + 235);

  xx[223] = (xx[29] * xx[7] + xx[28] * xx[9]) * xx[4];

  xx[224] = (xx[3] * xx[28] + xx[11] * xx[29]) * xx[4];

  xx[226] = motionData[322];

  xx[227] = motionData[323];

  xx[228] = motionData[324];

  xx[229] = motionData[325];

  pm_math_quatCompose(xx + 12, xx + 226, xx + 268);

  xx[226] = xx[4] * (motionData[322] * motionData[324] - motionData[323] *

                     motionData[325]);

  xx[227] = - ((motionData[322] * motionData[323] + motionData[324] *

                motionData[325]) * xx[4]);

  xx[228] = (motionData[323] * motionData[323] + motionData[324] * motionData

             [324]) * xx[4] - xx[5];

  pm_math_cross3(xx + 226, xx + 24, xx + 229);

  pm_math_quatXform(xx + 268, xx + 229, xx + 226);

  xx[28] = xx[7] * motionData[326];

  xx[29] = xx[7] * motionData[327];

  xx[229] = xx[11] * motionData[327] - xx[9] * motionData[326];

  xx[262] = - xx[28];

  xx[263] = - xx[29];

  xx[264] = - xx[229];

  pm_math_cross3(xx + 20, xx + 262, xx + 268);

  xx[271] = motionData[315];

  xx[272] = motionData[316];

  xx[273] = motionData[317];

  xx[274] = motionData[318];

  pm_math_quatCompose(xx + 37, xx + 271, xx + 275);

  xx[262] = xx[4] * (motionData[316] * motionData[318] - motionData[315] *

                     motionData[317]);

  xx[263] = (motionData[315] * motionData[316] + motionData[317] * motionData

             [318]) * xx[4];

  xx[264] = xx[5] - (motionData[316] * motionData[316] + motionData[317] *

                     motionData[317]) * xx[4];

  pm_math_cross3(xx + 262, xx + 24, xx + 271);

  pm_math_quatXform(xx + 275, xx + 271, xx + 262);

  xx[230] = xx[36] * motionData[320] - xx[35] * motionData[319];

  xx[231] = xx[4] * xx[36] * xx[230] - (motionData[320] + xx[47]) - xx[45];

  xx[243] = motionData[319] + xx[4] * xx[35] * xx[230] - xx[52] + xx[44];

  xx[230] = xx[243] * motionData[17];

  xx[244] = xx[231] * motionData[17];

  xx[246] = xx[243] * motionData[15] - xx[231] * motionData[16];

  xx[271] = - xx[230];

  xx[272] = xx[244];

  xx[273] = xx[246];

  pm_math_cross3(xx + 49, xx + 271, xx + 274);

  xx[277] = motionData[308];

  xx[278] = motionData[309];

  xx[279] = motionData[310];

  xx[280] = motionData[311];

  pm_math_quatCompose(xx + 75, xx + 277, xx + 281);

  xx[271] = motionData[309];

  xx[272] = motionData[310];

  xx[273] = motionData[311];

  xx[277] = xx[82] * motionData[311];

  xx[278] = xx[82] * motionData[309] + motionData[310];

  xx[285] = xx[277];

  xx[286] = motionData[311];

  xx[287] = - xx[278];

  pm_math_cross3(xx + 271, xx + 285, xx + 288);

  xx[279] = motionData[308] * motionData[311];

  xx[285] = xx[5] + (xx[288] - xx[277] * motionData[308]) * xx[4];

  xx[286] = xx[4] * (xx[289] - xx[279]) - xx[82];

  xx[287] = xx[4] * (xx[290] + xx[278] * motionData[308]);

  pm_math_cross3(xx + 285, xx + 24, xx + 288);

  pm_math_quatXform(xx + 281, xx + 288, xx + 285);

  xx[278] = - (xx[82] * motionData[314]);

  xx[288] = xx[278];

  xx[289] = - motionData[314];

  xx[290] = motionData[313] + xx[82] * motionData[312];

  pm_math_quatXform(xx + 71, xx + 288, xx + 291);

  xx[288] = xx[291] + xx[102];

  xx[289] = xx[292] + xx[103];

  xx[290] = xx[293] + xx[104];

  pm_math_quatXform(xx + 61, xx + 288, xx + 291);

  xx[280] = motionData[309] - xx[82] * motionData[310];

  xx[288] = - motionData[311];

  xx[289] = xx[277];

  xx[290] = xx[280];

  pm_math_cross3(xx + 271, xx + 288, xx + 294);

  xx[271] = xx[82] + (xx[279] + xx[294]) * xx[4];

  xx[272] = xx[5] + xx[4] * (xx[295] - xx[82] * xx[279]);

  xx[273] = xx[4] * (xx[296] - xx[280] * motionData[308]);

  pm_math_cross3(xx + 271, xx + 24, xx + 288);

  pm_math_quatXform(xx + 281, xx + 288, xx + 271);

  xx[288] = motionData[314];

  xx[289] = xx[278];

  xx[290] = xx[82] * motionData[313] - motionData[312];

  pm_math_quatXform(xx + 71, xx + 288, xx + 277);

  xx[288] = xx[277] + xx[90];

  xx[289] = xx[278] + xx[91];

  xx[290] = xx[279] + xx[92];

  pm_math_quatXform(xx + 61, xx + 288, xx + 277);

  xx[288] = xx[4] * (motionData[309] * motionData[311] - motionData[308] *

                     motionData[310]);

  xx[289] = (motionData[308] * motionData[309] + motionData[310] * motionData

             [311]) * xx[4];

  xx[290] = xx[5] - (motionData[309] * motionData[309] + motionData[310] *

                     motionData[310]) * xx[4];

  pm_math_cross3(xx + 288, xx + 24, xx + 294);

  pm_math_quatXform(xx + 281, xx + 294, xx + 288);

  xx[280] = xx[69] * motionData[312];

  xx[281] = xx[69] * motionData[313];

  xx[282] = xx[65] * motionData[312] + xx[67] * motionData[313];

  xx[294] = xx[280];

  xx[295] = xx[281];

  xx[296] = - xx[282];

  pm_math_cross3(xx + 83, xx + 294, xx + 297);

  xx[294] = xx[4] * (xx[297] + xx[280] * xx[57]) + xx[118] - motionData[313] -

    xx[112];

  xx[295] = motionData[312] + xx[4] * (xx[298] + xx[281] * xx[57]) + xx[111] +

    xx[86];

  xx[296] = (xx[299] - xx[282] * xx[57]) * xx[4] + xx[113];

  pm_math_quatXform(xx + 61, xx + 294, xx + 280);

  xx[294] = motionData[301];

  xx[295] = motionData[302];

  xx[296] = motionData[303];

  xx[297] = motionData[304];

  pm_math_quatCompose(xx + 129, xx + 294, xx + 298);

  xx[283] = motionData[303] * motionData[303];

  xx[284] = motionData[304] * motionData[304];

  xx[294] = motionData[302] * motionData[303];

  xx[295] = motionData[301] * motionData[304];

  xx[296] = motionData[301] * motionData[303];

  xx[297] = motionData[302] * motionData[304];

  xx[302] = xx[5] - (xx[283] + xx[284]) * xx[4];

  xx[303] = xx[4] * (xx[294] - xx[295]);

  xx[304] = (xx[296] + xx[297]) * xx[4];

  pm_math_cross3(xx + 302, xx + 24, xx + 305);

  pm_math_quatXform(xx + 298, xx + 305, xx + 302);

  xx[305] = xx[117] * motionData[306];

  xx[306] = xx[124] * motionData[307];

  xx[307] = xx[305] + xx[306];

  xx[308] = xx[70] * motionData[306];

  xx[309] = xx[70] * motionData[307];

  xx[310] = - xx[307];

  xx[311] = - xx[308];

  xx[312] = - xx[309];

  pm_math_cross3(xx + 142, xx + 310, xx + 313);

  xx[310] = xx[4] * (xx[313] - xx[307] * xx[68]) + xx[156];

  xx[311] = xx[4] * (xx[314] - xx[308] * xx[68]) + xx[150] - motionData[307] -

    xx[19];

  xx[312] = motionData[306] + xx[4] * (xx[315] - xx[309] * xx[68]) + xx[154] -

    xx[8];

  pm_math_quatXform(xx + 119, xx + 310, xx + 307);

  xx[310] = motionData[302] * motionData[302];

  xx[311] = motionData[303] * motionData[304];

  xx[312] = motionData[301] * motionData[302];

  xx[313] = (xx[295] + xx[294]) * xx[4];

  xx[314] = xx[5] - (xx[284] + xx[310]) * xx[4];

  xx[315] = xx[4] * (xx[311] - xx[312]);

  pm_math_cross3(xx + 313, xx + 24, xx + 316);

  pm_math_quatXform(xx + 298, xx + 316, xx + 313);

  xx[284] = xx[117] * motionData[305];

  xx[294] = xx[70] * motionData[305];

  xx[295] = xx[294] - xx[306];

  xx[306] = xx[117] * motionData[307];

  xx[316] = xx[284];

  xx[317] = xx[295];

  xx[318] = xx[306];

  pm_math_cross3(xx + 142, xx + 316, xx + 319);

  xx[316] = motionData[307] + (xx[284] * xx[68] + xx[319]) * xx[4] + xx[162] +

    xx[19];

  xx[317] = (xx[295] * xx[68] + xx[320]) * xx[4] + xx[155];

  xx[318] = (xx[306] * xx[68] + xx[321]) * xx[4] + xx[161] - motionData[305] -

    xx[6];

  pm_math_quatXform(xx + 119, xx + 316, xx + 319);

  xx[316] = xx[4] * (xx[297] - xx[296]);

  xx[317] = (xx[312] + xx[311]) * xx[4];

  xx[318] = xx[5] - (xx[310] + xx[283]) * xx[4];

  pm_math_cross3(xx + 316, xx + 24, xx + 295);

  pm_math_quatXform(xx + 298, xx + 295, xx + 310);

  xx[283] = xx[124] * motionData[305];

  xx[284] = xx[124] * motionData[306];

  xx[295] = xx[294] - xx[305];

  xx[296] = xx[283];

  xx[297] = xx[284];

  xx[298] = xx[295];

  pm_math_cross3(xx + 142, xx + 296, xx + 299);

  xx[296] = (xx[283] * xx[68] + xx[299]) * xx[4] + xx[133] - motionData[306] +

    xx[8];

  xx[297] = motionData[305] + (xx[284] * xx[68] + xx[300]) * xx[4] + xx[66] +

    xx[6];

  xx[298] = (xx[295] * xx[68] + xx[301]) * xx[4] + xx[127];

  pm_math_quatXform(xx + 119, xx + 296, xx + 299);

  xx[294] = motionData[56];

  xx[295] = motionData[57];

  xx[296] = motionData[58];

  xx[297] = motionData[59];

  pm_math_quatCompose(xx + 169, xx + 294, xx + 322);

  xx[294] = xx[4] * (motionData[57] * motionData[59] - motionData[56] *

                     motionData[58]);

  xx[295] = (motionData[56] * motionData[57] + motionData[58] * motionData[59]) *

    xx[4];

  xx[296] = xx[5] - (motionData[57] * motionData[57] + motionData[58] *

                     motionData[58]) * xx[4];

  pm_math_cross3(xx + 294, xx + 24, xx + 316);

  pm_math_quatXform(xx + 322, xx + 316, xx + 294);

  xx[283] = xx[126] * motionData[61];

  xx[284] = xx[126] * motionData[60];

  xx[297] = xx[4] * (xx[283] * xx[126] - xx[125] * xx[284]) - motionData[61] +

    xx[148];

  xx[298] = motionData[60] - ((xx[125] * xx[283] + xx[284] * xx[126]) * xx[4] -

    xx[160]) - xx[137];

  xx[283] = xx[298] * motionData[220];

  xx[284] = xx[297] * motionData[220];

  xx[305] = xx[298] * motionData[218] - xx[297] * motionData[219];

  xx[316] = - xx[283];

  xx[317] = xx[284];

  xx[318] = xx[305];

  pm_math_cross3(xx + 173, xx + 316, xx + 322);

  xx[325] = motionData[224];

  xx[326] = motionData[225];

  xx[327] = motionData[226];

  xx[328] = motionData[227];

  xx[306] = 0.6123724356957949;

  xx[316] = xx[2] * state[34];

  xx[317] = sin(xx[316]);

  xx[318] = xx[306] * xx[317];

  xx[329] = cos(xx[316]);

  xx[316] = xx[306] * xx[329];

  xx[330] = xx[318] - xx[316];

  xx[331] = 0.3535533905932732;

  xx[332] = xx[331] * xx[329];

  xx[329] = xx[331] * xx[317];

  xx[317] = xx[332] + xx[329];

  xx[333] = - xx[317];

  xx[334] = xx[329] - xx[332];

  xx[329] = xx[318] + xx[316];

  xx[316] = - xx[329];

  xx[335] = xx[330];

  xx[336] = xx[333];

  xx[337] = xx[334];

  xx[338] = xx[316];

  pm_math_quatCompose(xx + 325, xx + 335, xx + 339);

  xx[318] = xx[6] * xx[342];

  xx[332] = xx[8] * xx[341] - xx[6] * xx[340];

  xx[335] = xx[318];

  xx[336] = - (xx[8] * xx[342]);

  xx[337] = xx[332];

  pm_math_cross3(xx + 340, xx + 335, xx + 343);

  xx[335] = xx[333];

  xx[336] = xx[334];

  xx[337] = xx[316];

  xx[316] = 1.121202762681406e-11;

  xx[333] = xx[329] * xx[316];

  xx[338] = 6.145027516349377e-13;

  xx[340] = xx[329] * xx[338];

  xx[329] = xx[338] * xx[334] - xx[317] * xx[316];

  xx[346] = xx[333];

  xx[347] = xx[340];

  xx[348] = xx[329];

  pm_math_cross3(xx + 335, xx + 346, xx + 349);

  xx[334] = xx[4] * (xx[349] + xx[333] * xx[330]) - xx[338];

  xx[335] = xx[316] + (xx[340] * xx[330] + xx[350]) * xx[4];

  xx[336] = (xx[330] * xx[329] + xx[351]) * xx[4];

  pm_math_quatXform(xx + 325, xx + 334, xx + 346);

  xx[316] = 0.04233709306330295;

  xx[317] = xx[2] * state[53];

  xx[329] = cos(xx[317]);

  xx[330] = 0.04233598682685397;

  xx[333] = sin(xx[317]);

  xx[317] = xx[316] * xx[329] + xx[330] * xx[333];

  xx[334] = 0.7058357201813958;

  xx[335] = 0.7058407546227096;

  xx[336] = xx[334] * xx[333] - xx[335] * xx[329];

  xx[337] = xx[334] * xx[329] + xx[335] * xx[333];

  xx[338] = xx[316] * xx[333] - xx[330] * xx[329];

  xx[349] = xx[317];

  xx[350] = xx[336];

  xx[351] = xx[337];

  xx[352] = xx[338];

  xx[353] = motionData[294];

  xx[354] = motionData[295];

  xx[355] = motionData[296];

  xx[356] = motionData[297];

  pm_math_quatCompose(xx + 349, xx + 353, xx + 357);

  xx[349] = xx[4] * (motionData[295] * motionData[297] - motionData[294] *

                     motionData[296]);

  xx[350] = (motionData[294] * motionData[295] + motionData[296] * motionData

             [297]) * xx[4];

  xx[351] = xx[5] - (motionData[295] * motionData[295] + motionData[296] *

                     motionData[296]) * xx[4];

  pm_math_cross3(xx + 349, xx + 208, xx + 352);

  pm_math_quatXform(xx + 357, xx + 352, xx + 349);

  xx[329] = xx[338] * motionData[298];

  xx[333] = xx[338] * motionData[299];

  xx[340] = xx[336] * motionData[298] + xx[337] * motionData[299];

  xx[352] = - xx[329];

  xx[353] = - xx[333];

  xx[354] = xx[340];

  pm_math_cross3(xx + 336, xx + 352, xx + 355);

  xx[341] = 0.02520954632904374;

  xx[352] = xx[336] * xx[341];

  xx[353] = xx[338] * xx[341];

  xx[354] = xx[2] * state[55];

  xx[358] = cos(xx[354]);

  xx[359] = sin(xx[354]);

  xx[360] = xx[358] * motionData[106] - xx[359] * motionData[107];

  xx[361] = - (xx[358] * motionData[105] + xx[359] * motionData[108]);

  xx[362] = xx[359] * motionData[105] - xx[358] * motionData[108];

  xx[363] = xx[359] * motionData[106] + xx[358] * motionData[107];

  xx[364] = motionData[119];

  xx[365] = motionData[120];

  xx[366] = motionData[121];

  xx[367] = motionData[122];

  pm_math_quatCompose(xx + 360, xx + 364, xx + 368);

  xx[360] = xx[4] * (motionData[120] * motionData[122] - motionData[119] *

                     motionData[121]);

  xx[361] = (motionData[119] * motionData[120] + motionData[121] * motionData

             [122]) * xx[4];

  xx[362] = xx[5] - (motionData[120] * motionData[120] + motionData[121] *

                     motionData[121]) * xx[4];

  pm_math_cross3(xx + 360, xx + 208, xx + 363);

  pm_math_quatXform(xx + 368, xx + 363, xx + 360);

  xx[354] = xx[359] * motionData[124] - xx[358] * motionData[123];

  xx[363] = 9.27756931389703e-12;

  xx[364] = 5.443558296964576e-12;

  xx[365] = xx[363] * xx[358] + xx[364] * xx[359];

  xx[366] = xx[4] * xx[359] * xx[354] - (motionData[124] + xx[4] * xx[365] * xx

    [359]) + xx[364];

  xx[367] = motionData[106];

  xx[368] = motionData[107];

  xx[369] = motionData[108];

  xx[359] = motionData[123] + xx[4] * xx[358] * xx[354] - xx[4] * xx[365] * xx

    [358] + xx[363];

  xx[354] = xx[359] * motionData[108];

  xx[358] = xx[366] * motionData[108];

  xx[363] = xx[359] * motionData[106] - xx[366] * motionData[107];

  xx[370] = - xx[354];

  xx[371] = xx[358];

  xx[372] = xx[363];

  pm_math_cross3(xx + 367, xx + 370, xx + 373);

  xx[367] = motionData[273];

  xx[368] = motionData[274];

  xx[369] = motionData[275];

  xx[370] = motionData[276];

  xx[364] = xx[55] * state[60] - xx[56] * state[57];

  xx[365] = xx[55] * state[59] + xx[56] * state[58];

  xx[371] = - xx[365];

  xx[372] = xx[56] * state[59] - xx[55] * state[58];

  xx[376] = - xx[372];

  xx[377] = xx[55] * state[57] + xx[56] * state[60];

  xx[378] = - xx[377];

  xx[379] = xx[364];

  xx[380] = xx[371];

  xx[381] = xx[376];

  xx[382] = xx[378];

  pm_math_quatCompose(xx + 367, xx + 379, xx + 383);

  pm_math_quatXform(xx + 383, xx + 247, xx + 387);

  pm_math_quatXform(xx + 379, xx + 99, xx + 390);

  pm_math_quatXform(xx + 367, xx + 390, xx + 393);

  pm_math_quatXform(xx + 383, xx + 253, xx + 390);

  pm_math_quatXform(xx + 379, xx + 105, xx + 396);

  pm_math_quatXform(xx + 367, xx + 396, xx + 379);

  xx[382] = xx[191] * xx[386];

  xx[396] = xx[191] * xx[384] + xx[192] * xx[385];

  xx[397] = - xx[382];

  xx[398] = - (xx[192] * xx[386]);

  xx[399] = xx[396];

  pm_math_cross3(xx + 384, xx + 397, xx + 400);

  xx[397] = xx[371];

  xx[398] = xx[376];

  xx[399] = xx[378];

  xx[371] = xx[86] * xx[377];

  xx[376] = xx[112] * xx[377];

  xx[377] = xx[86] * xx[365] + xx[372] * xx[112];

  xx[403] = xx[371];

  xx[404] = xx[376];

  xx[405] = - xx[377];

  pm_math_cross3(xx + 397, xx + 403, xx + 406);

  xx[397] = xx[4] * (xx[406] + xx[371] * xx[364]) - xx[112];

  xx[398] = xx[86] + (xx[376] * xx[364] + xx[407]) * xx[4];

  xx[399] = (xx[408] - xx[377] * xx[364]) * xx[4];

  pm_math_quatXform(xx + 367, xx + 397, xx + 376);

  xx[367] = motionData[378];

  xx[368] = motionData[379];

  xx[369] = motionData[380];

  xx[370] = motionData[381];

  pm_math_quatCompose(xx + 12, xx + 367, xx + 403);

  xx[367] = xx[4] * (motionData[378] * motionData[380] - motionData[379] *

                     motionData[381]);

  xx[368] = - ((motionData[378] * motionData[379] + motionData[380] *

                motionData[381]) * xx[4]);

  xx[369] = (motionData[379] * motionData[379] + motionData[380] * motionData

             [380]) * xx[4] - xx[5];

  pm_math_cross3(xx + 367, xx + 24, xx + 370);

  pm_math_quatXform(xx + 403, xx + 370, xx + 367);

  xx[364] = xx[7] * motionData[382];

  xx[365] = xx[7] * motionData[383];

  xx[370] = xx[11] * motionData[383] - xx[9] * motionData[382];

  xx[397] = - xx[364];

  xx[398] = - xx[365];

  xx[399] = - xx[370];

  pm_math_cross3(xx + 20, xx + 397, xx + 403);

  xx[406] = motionData[371];

  xx[407] = motionData[372];

  xx[408] = motionData[373];

  xx[409] = motionData[374];

  pm_math_quatCompose(xx + 37, xx + 406, xx + 410);

  xx[397] = xx[4] * (motionData[372] * motionData[374] - motionData[371] *

                     motionData[373]);

  xx[398] = (motionData[371] * motionData[372] + motionData[373] * motionData

             [374]) * xx[4];

  xx[399] = xx[5] - (motionData[372] * motionData[372] + motionData[373] *

                     motionData[373]) * xx[4];

  pm_math_cross3(xx + 397, xx + 24, xx + 406);

  pm_math_quatXform(xx + 410, xx + 406, xx + 397);

  xx[371] = xx[36] * motionData[376] - xx[35] * motionData[375];

  xx[372] = xx[4] * xx[36] * xx[371] - (motionData[376] + xx[47]) - xx[45];

  xx[384] = motionData[375] + xx[4] * xx[35] * xx[371] - xx[52] + xx[44];

  xx[371] = xx[384] * motionData[17];

  xx[385] = xx[372] * motionData[17];

  xx[406] = xx[384] * motionData[15] - xx[372] * motionData[16];

  xx[407] = - xx[371];

  xx[408] = xx[385];

  xx[409] = xx[406];

  pm_math_cross3(xx + 49, xx + 407, xx + 410);

  xx[413] = motionData[364];

  xx[414] = motionData[365];

  xx[415] = motionData[366];

  xx[416] = motionData[367];

  pm_math_quatCompose(xx + 75, xx + 413, xx + 417);

  xx[407] = motionData[365];

  xx[408] = motionData[366];

  xx[409] = motionData[367];

  xx[413] = xx[82] * motionData[367];

  xx[414] = xx[82] * motionData[365] + motionData[366];

  xx[421] = xx[413];

  xx[422] = motionData[367];

  xx[423] = - xx[414];

  pm_math_cross3(xx + 407, xx + 421, xx + 424);

  xx[415] = motionData[364] * motionData[367];

  xx[421] = xx[5] + (xx[424] - xx[413] * motionData[364]) * xx[4];

  xx[422] = xx[4] * (xx[425] - xx[415]) - xx[82];

  xx[423] = xx[4] * (xx[426] + xx[414] * motionData[364]);

  pm_math_cross3(xx + 421, xx + 24, xx + 424);

  pm_math_quatXform(xx + 417, xx + 424, xx + 421);

  xx[414] = - (xx[82] * motionData[370]);

  xx[424] = xx[414];

  xx[425] = - motionData[370];

  xx[426] = motionData[369] + xx[82] * motionData[368];

  pm_math_quatXform(xx + 71, xx + 424, xx + 427);

  xx[424] = xx[427] + xx[102];

  xx[425] = xx[428] + xx[103];

  xx[426] = xx[429] + xx[104];

  pm_math_quatXform(xx + 61, xx + 424, xx + 427);

  xx[416] = motionData[365] - xx[82] * motionData[366];

  xx[424] = - motionData[367];

  xx[425] = xx[413];

  xx[426] = xx[416];

  pm_math_cross3(xx + 407, xx + 424, xx + 430);

  xx[407] = xx[82] + (xx[415] + xx[430]) * xx[4];

  xx[408] = xx[5] + xx[4] * (xx[431] - xx[82] * xx[415]);

  xx[409] = xx[4] * (xx[432] - xx[416] * motionData[364]);

  pm_math_cross3(xx + 407, xx + 24, xx + 424);

  pm_math_quatXform(xx + 417, xx + 424, xx + 407);

  xx[424] = motionData[370];

  xx[425] = xx[414];

  xx[426] = xx[82] * motionData[369] - motionData[368];

  pm_math_quatXform(xx + 71, xx + 424, xx + 413);

  xx[424] = xx[413] + xx[90];

  xx[425] = xx[414] + xx[91];

  xx[426] = xx[415] + xx[92];

  pm_math_quatXform(xx + 61, xx + 424, xx + 413);

  xx[424] = xx[4] * (motionData[365] * motionData[367] - motionData[364] *

                     motionData[366]);

  xx[425] = (motionData[364] * motionData[365] + motionData[366] * motionData

             [367]) * xx[4];

  xx[426] = xx[5] - (motionData[365] * motionData[365] + motionData[366] *

                     motionData[366]) * xx[4];

  pm_math_cross3(xx + 424, xx + 24, xx + 430);

  pm_math_quatXform(xx + 417, xx + 430, xx + 424);

  xx[416] = xx[69] * motionData[368];

  xx[417] = xx[69] * motionData[369];

  xx[418] = xx[65] * motionData[368] + xx[67] * motionData[369];

  xx[430] = xx[416];

  xx[431] = xx[417];

  xx[432] = - xx[418];

  pm_math_cross3(xx + 83, xx + 430, xx + 433);

  xx[430] = xx[4] * (xx[433] + xx[416] * xx[57]) + xx[118] - motionData[369] -

    xx[112];

  xx[431] = motionData[368] + xx[4] * (xx[434] + xx[417] * xx[57]) + xx[111] +

    xx[86];

  xx[432] = (xx[435] - xx[418] * xx[57]) * xx[4] + xx[113];

  pm_math_quatXform(xx + 61, xx + 430, xx + 416);

  xx[430] = motionData[357];

  xx[431] = motionData[358];

  xx[432] = motionData[359];

  xx[433] = motionData[360];

  pm_math_quatCompose(xx + 129, xx + 430, xx + 434);

  xx[419] = motionData[359] * motionData[359];

  xx[420] = motionData[360] * motionData[360];

  xx[430] = motionData[358] * motionData[359];

  xx[431] = motionData[357] * motionData[360];

  xx[432] = motionData[357] * motionData[359];

  xx[433] = motionData[358] * motionData[360];

  xx[438] = xx[5] - (xx[419] + xx[420]) * xx[4];

  xx[439] = xx[4] * (xx[430] - xx[431]);

  xx[440] = (xx[432] + xx[433]) * xx[4];

  pm_math_cross3(xx + 438, xx + 24, xx + 441);

  pm_math_quatXform(xx + 434, xx + 441, xx + 438);

  xx[441] = xx[117] * motionData[362];

  xx[442] = xx[124] * motionData[363];

  xx[443] = xx[441] + xx[442];

  xx[444] = xx[70] * motionData[362];

  xx[445] = xx[70] * motionData[363];

  xx[446] = - xx[443];

  xx[447] = - xx[444];

  xx[448] = - xx[445];

  pm_math_cross3(xx + 142, xx + 446, xx + 449);

  xx[446] = xx[4] * (xx[449] - xx[443] * xx[68]) + xx[156];

  xx[447] = xx[4] * (xx[450] - xx[444] * xx[68]) + xx[150] - motionData[363] -

    xx[19];

  xx[448] = motionData[362] + xx[4] * (xx[451] - xx[445] * xx[68]) + xx[154] -

    xx[8];

  pm_math_quatXform(xx + 119, xx + 446, xx + 443);

  xx[446] = motionData[358] * motionData[358];

  xx[447] = motionData[359] * motionData[360];

  xx[448] = motionData[357] * motionData[358];

  xx[449] = (xx[431] + xx[430]) * xx[4];

  xx[450] = xx[5] - (xx[420] + xx[446]) * xx[4];

  xx[451] = xx[4] * (xx[447] - xx[448]);

  pm_math_cross3(xx + 449, xx + 24, xx + 452);

  pm_math_quatXform(xx + 434, xx + 452, xx + 449);

  xx[420] = xx[117] * motionData[361];

  xx[430] = xx[70] * motionData[361];

  xx[431] = xx[430] - xx[442];

  xx[442] = xx[117] * motionData[363];

  xx[452] = xx[420];

  xx[453] = xx[431];

  xx[454] = xx[442];

  pm_math_cross3(xx + 142, xx + 452, xx + 455);

  xx[452] = motionData[363] + (xx[420] * xx[68] + xx[455]) * xx[4] + xx[162] +

    xx[19];

  xx[453] = (xx[431] * xx[68] + xx[456]) * xx[4] + xx[155];

  xx[454] = (xx[442] * xx[68] + xx[457]) * xx[4] + xx[161] - motionData[361] -

    xx[6];

  pm_math_quatXform(xx + 119, xx + 452, xx + 455);

  xx[452] = xx[4] * (xx[433] - xx[432]);

  xx[453] = (xx[448] + xx[447]) * xx[4];

  xx[454] = xx[5] - (xx[446] + xx[419]) * xx[4];

  pm_math_cross3(xx + 452, xx + 24, xx + 431);

  pm_math_quatXform(xx + 434, xx + 431, xx + 446);

  xx[419] = xx[124] * motionData[361];

  xx[420] = xx[124] * motionData[362];

  xx[431] = xx[430] - xx[441];

  xx[432] = xx[419];

  xx[433] = xx[420];

  xx[434] = xx[431];

  pm_math_cross3(xx + 142, xx + 432, xx + 435);

  xx[432] = (xx[419] * xx[68] + xx[435]) * xx[4] + xx[133] - motionData[362] +

    xx[8];

  xx[433] = motionData[361] + (xx[420] * xx[68] + xx[436]) * xx[4] + xx[66] +

    xx[6];

  xx[434] = (xx[431] * xx[68] + xx[437]) * xx[4] + xx[127];

  pm_math_quatXform(xx + 119, xx + 432, xx + 435);

  xx[430] = motionData[63];

  xx[431] = motionData[64];

  xx[432] = motionData[65];

  xx[433] = motionData[66];

  pm_math_quatCompose(xx + 169, xx + 430, xx + 458);

  xx[430] = xx[4] * (motionData[64] * motionData[66] - motionData[63] *

                     motionData[65]);

  xx[431] = (motionData[63] * motionData[64] + motionData[65] * motionData[66]) *

    xx[4];

  xx[432] = xx[5] - (motionData[64] * motionData[64] + motionData[65] *

                     motionData[65]) * xx[4];

  pm_math_cross3(xx + 430, xx + 24, xx + 452);

  pm_math_quatXform(xx + 458, xx + 452, xx + 430);

  xx[419] = xx[126] * motionData[68];

  xx[420] = xx[126] * motionData[67];

  xx[433] = xx[4] * (xx[419] * xx[126] - xx[125] * xx[420]) - motionData[68] +

    xx[148];

  xx[434] = motionData[67] - ((xx[125] * xx[419] + xx[420] * xx[126]) * xx[4] -

    xx[160]) - xx[137];

  xx[419] = xx[434] * motionData[220];

  xx[420] = xx[433] * motionData[220];

  xx[441] = xx[434] * motionData[218] - xx[433] * motionData[219];

  xx[452] = - xx[419];

  xx[453] = xx[420];

  xx[454] = xx[441];

  pm_math_cross3(xx + 173, xx + 452, xx + 458);

  xx[442] = 0.3535533905932758;

  xx[452] = xx[2] * state[36];

  xx[453] = cos(xx[452]);

  xx[454] = xx[442] * xx[453];

  xx[461] = sin(xx[452]);

  xx[452] = xx[442] * xx[461];

  xx[462] = xx[454] + xx[452];

  xx[463] = 0.6123724356957934;

  xx[464] = xx[463] * xx[461];

  xx[461] = xx[463] * xx[453];

  xx[453] = xx[464] - xx[461];

  xx[465] = xx[461] + xx[464];

  xx[461] = - xx[465];

  xx[464] = xx[452] - xx[454];

  xx[466] = - xx[462];

  xx[467] = xx[453];

  xx[468] = xx[461];

  xx[469] = xx[464];

  pm_math_quatCompose(xx + 325, xx + 466, xx + 470);

  xx[452] = xx[6] * xx[473];

  xx[454] = xx[6] * xx[471] - xx[8] * xx[472];

  xx[466] = - xx[452];

  xx[467] = xx[8] * xx[473];

  xx[468] = xx[454];

  pm_math_cross3(xx + 471, xx + 466, xx + 474);

  xx[466] = 3.80025733104361e-12;

  xx[467] = xx[453];

  xx[468] = xx[461];

  xx[469] = xx[464];

  xx[461] = 3.881762117297072e-12;

  xx[471] = xx[461] * xx[464];

  xx[472] = xx[466] * xx[464];

  xx[464] = xx[461] * xx[453] + xx[465] * xx[466];

  xx[477] = - xx[471];

  xx[478] = xx[472];

  xx[479] = xx[464];

  pm_math_cross3(xx + 467, xx + 477, xx + 480);

  xx[467] = xx[466] + xx[4] * (xx[480] + xx[462] * xx[471]);

  xx[468] = xx[461] + (xx[481] - xx[462] * xx[472]) * xx[4];

  xx[469] = (xx[482] - xx[462] * xx[464]) * xx[4];

  pm_math_quatXform(xx + 325, xx + 467, xx + 464);

  xx[453] = 0.3162553791961485;

  xx[461] = xx[2] * state[75];

  xx[462] = cos(xx[461]);

  xx[467] = 0.3162538200043588;

  xx[468] = sin(xx[461]);

  xx[461] = xx[453] * xx[462] - xx[467] * xx[468];

  xx[469] = 0.6324445710612965;

  xx[471] = 0.6324396579890005;

  xx[472] = xx[469] * xx[462] + xx[471] * xx[468];

  xx[477] = xx[469] * xx[468] - xx[471] * xx[462];

  xx[469] = xx[467] * xx[462] + xx[453] * xx[468];

  xx[453] = - xx[469];

  xx[478] = xx[461];

  xx[479] = xx[472];

  xx[480] = xx[477];

  xx[481] = xx[453];

  xx[482] = motionData[350];

  xx[483] = motionData[351];

  xx[484] = motionData[352];

  xx[485] = motionData[353];

  pm_math_quatCompose(xx + 478, xx + 482, xx + 486);

  xx[478] = xx[4] * (motionData[350] * motionData[352] - motionData[351] *

                     motionData[353]);

  xx[479] = - ((motionData[350] * motionData[351] + motionData[352] *

                motionData[353]) * xx[4]);

  xx[480] = (motionData[351] * motionData[351] + motionData[352] * motionData

             [352]) * xx[4] - xx[5];

  pm_math_cross3(xx + 478, xx + 208, xx + 481);

  pm_math_quatXform(xx + 486, xx + 481, xx + 478);

  xx[481] = xx[472];

  xx[482] = xx[477];

  xx[483] = xx[453];

  xx[453] = xx[469] * motionData[354];

  xx[462] = xx[469] * motionData[355];

  xx[467] = xx[472] * motionData[354] + xx[477] * motionData[355];

  xx[484] = - xx[453];

  xx[485] = - xx[462];

  xx[486] = - xx[467];

  pm_math_cross3(xx + 481, xx + 484, xx + 487);

  xx[468] = xx[27] * xx[472];

  xx[471] = xx[27] * xx[469];

  xx[481] = xx[2] * state[77];

  xx[482] = cos(xx[481]);

  xx[483] = sin(xx[481]);

  xx[490] = xx[482] * motionData[148] - xx[483] * motionData[149];

  xx[491] = - (xx[482] * motionData[147] + xx[483] * motionData[150]);

  xx[492] = xx[483] * motionData[147] - xx[482] * motionData[150];

  xx[493] = xx[483] * motionData[148] + xx[482] * motionData[149];

  xx[494] = motionData[161];

  xx[495] = motionData[162];

  xx[496] = motionData[163];

  xx[497] = motionData[164];

  pm_math_quatCompose(xx + 490, xx + 494, xx + 498);

  xx[484] = xx[4] * (motionData[162] * motionData[164] - motionData[161] *

                     motionData[163]);

  xx[485] = (motionData[161] * motionData[162] + motionData[163] * motionData

             [164]) * xx[4];

  xx[486] = xx[5] - (motionData[162] * motionData[162] + motionData[163] *

                     motionData[163]) * xx[4];

  pm_math_cross3(xx + 484, xx + 208, xx + 490);

  pm_math_quatXform(xx + 498, xx + 490, xx + 484);

  xx[481] = xx[483] * motionData[166] - xx[482] * motionData[165];

  xx[490] = 5.157931604049537e-12;

  xx[491] = 9.862118968695376e-13;

  xx[492] = xx[490] * xx[482] + xx[491] * xx[483];

  xx[493] = xx[4] * xx[483] * xx[481] - (motionData[166] - xx[4] * xx[492] * xx

    [483]) - xx[491];

  xx[494] = motionData[148];

  xx[495] = motionData[149];

  xx[496] = motionData[150];

  xx[483] = motionData[165] + xx[4] * xx[482] * xx[481] + xx[4] * xx[492] * xx

    [482] - xx[490];

  xx[481] = xx[483] * motionData[150];

  xx[482] = xx[493] * motionData[150];

  xx[490] = xx[483] * motionData[148] - xx[493] * motionData[149];

  xx[497] = - xx[481];

  xx[498] = xx[482];

  xx[499] = xx[490];

  pm_math_cross3(xx + 494, xx + 497, xx + 500);

  xx[494] = motionData[329];

  xx[495] = motionData[330];

  xx[496] = motionData[331];

  xx[497] = motionData[332];

  xx[491] = xx[55] * state[82] - xx[56] * state[79];

  xx[492] = xx[55] * state[81] + xx[56] * state[80];

  xx[498] = - xx[492];

  xx[499] = xx[56] * state[81] - xx[55] * state[80];

  xx[503] = - xx[499];

  xx[504] = xx[55] * state[79] + xx[56] * state[82];

  xx[505] = - xx[504];

  xx[506] = xx[491];

  xx[507] = xx[498];

  xx[508] = xx[503];

  xx[509] = xx[505];

  pm_math_quatCompose(xx + 494, xx + 506, xx + 510);

  pm_math_quatXform(xx + 510, xx + 247, xx + 514);

  pm_math_quatXform(xx + 506, xx + 99, xx + 517);

  pm_math_quatXform(xx + 494, xx + 517, xx + 520);

  pm_math_quatXform(xx + 510, xx + 253, xx + 517);

  pm_math_quatXform(xx + 506, xx + 105, xx + 523);

  pm_math_quatXform(xx + 494, xx + 523, xx + 506);

  xx[509] = xx[191] * xx[513];

  xx[523] = xx[191] * xx[511] + xx[192] * xx[512];

  xx[524] = - xx[509];

  xx[525] = - (xx[192] * xx[513]);

  xx[526] = xx[523];

  pm_math_cross3(xx + 511, xx + 524, xx + 527);

  xx[524] = xx[498];

  xx[525] = xx[503];

  xx[526] = xx[505];

  xx[498] = xx[86] * xx[504];

  xx[503] = xx[112] * xx[504];

  xx[504] = xx[86] * xx[492] + xx[499] * xx[112];

  xx[530] = xx[498];

  xx[531] = xx[503];

  xx[532] = - xx[504];

  pm_math_cross3(xx + 524, xx + 530, xx + 533);

  xx[524] = xx[4] * (xx[533] + xx[498] * xx[491]) - xx[112];

  xx[525] = xx[86] + (xx[503] * xx[491] + xx[534]) * xx[4];

  xx[526] = (xx[535] - xx[504] * xx[491]) * xx[4];

  pm_math_quatXform(xx + 494, xx + 524, xx + 503);

  xx[494] = motionData[434];

  xx[495] = motionData[435];

  xx[496] = motionData[436];

  xx[497] = motionData[437];

  pm_math_quatCompose(xx + 12, xx + 494, xx + 530);

  xx[494] = xx[4] * (motionData[434] * motionData[436] - motionData[435] *

                     motionData[437]);

  xx[495] = - ((motionData[434] * motionData[435] + motionData[436] *

                motionData[437]) * xx[4]);

  xx[496] = (motionData[435] * motionData[435] + motionData[436] * motionData

             [436]) * xx[4] - xx[5];

  pm_math_cross3(xx + 494, xx + 24, xx + 497);

  pm_math_quatXform(xx + 530, xx + 497, xx + 494);

  xx[491] = xx[7] * motionData[438];

  xx[492] = xx[7] * motionData[439];

  xx[497] = xx[11] * motionData[439] - xx[9] * motionData[438];

  xx[524] = - xx[491];

  xx[525] = - xx[492];

  xx[526] = - xx[497];

  pm_math_cross3(xx + 20, xx + 524, xx + 530);

  xx[533] = motionData[427];

  xx[534] = motionData[428];

  xx[535] = motionData[429];

  xx[536] = motionData[430];

  pm_math_quatCompose(xx + 37, xx + 533, xx + 537);

  xx[524] = xx[4] * (motionData[428] * motionData[430] - motionData[427] *

                     motionData[429]);

  xx[525] = (motionData[427] * motionData[428] + motionData[429] * motionData

             [430]) * xx[4];

  xx[526] = xx[5] - (motionData[428] * motionData[428] + motionData[429] *

                     motionData[429]) * xx[4];

  pm_math_cross3(xx + 524, xx + 24, xx + 533);

  pm_math_quatXform(xx + 537, xx + 533, xx + 524);

  xx[498] = xx[36] * motionData[432] - xx[35] * motionData[431];

  xx[499] = xx[4] * xx[36] * xx[498] - (motionData[432] + xx[47]) - xx[45];

  xx[511] = motionData[431] + xx[4] * xx[35] * xx[498] - xx[52] + xx[44];

  xx[498] = xx[511] * motionData[17];

  xx[512] = xx[499] * motionData[17];

  xx[533] = xx[511] * motionData[15] - xx[499] * motionData[16];

  xx[534] = - xx[498];

  xx[535] = xx[512];

  xx[536] = xx[533];

  pm_math_cross3(xx + 49, xx + 534, xx + 537);

  xx[540] = motionData[420];

  xx[541] = motionData[421];

  xx[542] = motionData[422];

  xx[543] = motionData[423];

  pm_math_quatCompose(xx + 75, xx + 540, xx + 544);

  xx[534] = motionData[421];

  xx[535] = motionData[422];

  xx[536] = motionData[423];

  xx[540] = xx[82] * motionData[423];

  xx[541] = xx[82] * motionData[421] + motionData[422];

  xx[548] = xx[540];

  xx[549] = motionData[423];

  xx[550] = - xx[541];

  pm_math_cross3(xx + 534, xx + 548, xx + 551);

  xx[542] = motionData[420] * motionData[423];

  xx[548] = xx[5] + (xx[551] - xx[540] * motionData[420]) * xx[4];

  xx[549] = xx[4] * (xx[552] - xx[542]) - xx[82];

  xx[550] = xx[4] * (xx[553] + xx[541] * motionData[420]);

  pm_math_cross3(xx + 548, xx + 24, xx + 551);

  pm_math_quatXform(xx + 544, xx + 551, xx + 548);

  xx[541] = - (xx[82] * motionData[426]);

  xx[551] = xx[541];

  xx[552] = - motionData[426];

  xx[553] = motionData[425] + xx[82] * motionData[424];

  pm_math_quatXform(xx + 71, xx + 551, xx + 554);

  xx[551] = xx[554] + xx[102];

  xx[552] = xx[555] + xx[103];

  xx[553] = xx[556] + xx[104];

  pm_math_quatXform(xx + 61, xx + 551, xx + 554);

  xx[543] = motionData[421] - xx[82] * motionData[422];

  xx[551] = - motionData[423];

  xx[552] = xx[540];

  xx[553] = xx[543];

  pm_math_cross3(xx + 534, xx + 551, xx + 557);

  xx[534] = xx[82] + (xx[542] + xx[557]) * xx[4];

  xx[535] = xx[5] + xx[4] * (xx[558] - xx[82] * xx[542]);

  xx[536] = xx[4] * (xx[559] - xx[543] * motionData[420]);

  pm_math_cross3(xx + 534, xx + 24, xx + 551);

  pm_math_quatXform(xx + 544, xx + 551, xx + 534);

  xx[551] = motionData[426];

  xx[552] = xx[541];

  xx[553] = xx[82] * motionData[425] - motionData[424];

  pm_math_quatXform(xx + 71, xx + 551, xx + 540);

  xx[551] = xx[540] + xx[90];

  xx[552] = xx[541] + xx[91];

  xx[553] = xx[542] + xx[92];

  pm_math_quatXform(xx + 61, xx + 551, xx + 540);

  xx[551] = xx[4] * (motionData[421] * motionData[423] - motionData[420] *

                     motionData[422]);

  xx[552] = (motionData[420] * motionData[421] + motionData[422] * motionData

             [423]) * xx[4];

  xx[553] = xx[5] - (motionData[421] * motionData[421] + motionData[422] *

                     motionData[422]) * xx[4];

  pm_math_cross3(xx + 551, xx + 24, xx + 557);

  pm_math_quatXform(xx + 544, xx + 557, xx + 551);

  xx[543] = xx[69] * motionData[424];

  xx[544] = xx[69] * motionData[425];

  xx[545] = xx[65] * motionData[424] + xx[67] * motionData[425];

  xx[557] = xx[543];

  xx[558] = xx[544];

  xx[559] = - xx[545];

  pm_math_cross3(xx + 83, xx + 557, xx + 560);

  xx[557] = xx[4] * (xx[560] + xx[543] * xx[57]) + xx[118] - motionData[425] -

    xx[112];

  xx[558] = motionData[424] + xx[4] * (xx[561] + xx[544] * xx[57]) + xx[111] +

    xx[86];

  xx[559] = (xx[562] - xx[545] * xx[57]) * xx[4] + xx[113];

  pm_math_quatXform(xx + 61, xx + 557, xx + 543);

  xx[557] = motionData[413];

  xx[558] = motionData[414];

  xx[559] = motionData[415];

  xx[560] = motionData[416];

  pm_math_quatCompose(xx + 129, xx + 557, xx + 561);

  xx[546] = motionData[415] * motionData[415];

  xx[547] = motionData[416] * motionData[416];

  xx[557] = motionData[414] * motionData[415];

  xx[558] = motionData[413] * motionData[416];

  xx[559] = motionData[413] * motionData[415];

  xx[560] = motionData[414] * motionData[416];

  xx[565] = xx[5] - (xx[546] + xx[547]) * xx[4];

  xx[566] = xx[4] * (xx[557] - xx[558]);

  xx[567] = (xx[559] + xx[560]) * xx[4];

  pm_math_cross3(xx + 565, xx + 24, xx + 568);

  pm_math_quatXform(xx + 561, xx + 568, xx + 565);

  xx[568] = xx[117] * motionData[418];

  xx[569] = xx[124] * motionData[419];

  xx[570] = xx[568] + xx[569];

  xx[571] = xx[70] * motionData[418];

  xx[572] = xx[70] * motionData[419];

  xx[573] = - xx[570];

  xx[574] = - xx[571];

  xx[575] = - xx[572];

  pm_math_cross3(xx + 142, xx + 573, xx + 576);

  xx[573] = xx[4] * (xx[576] - xx[570] * xx[68]) + xx[156];

  xx[574] = xx[4] * (xx[577] - xx[571] * xx[68]) + xx[150] - motionData[419] -

    xx[19];

  xx[575] = motionData[418] + xx[4] * (xx[578] - xx[572] * xx[68]) + xx[154] -

    xx[8];

  pm_math_quatXform(xx + 119, xx + 573, xx + 570);

  xx[573] = motionData[414] * motionData[414];

  xx[574] = motionData[415] * motionData[416];

  xx[575] = motionData[413] * motionData[414];

  xx[576] = (xx[558] + xx[557]) * xx[4];

  xx[577] = xx[5] - (xx[547] + xx[573]) * xx[4];

  xx[578] = xx[4] * (xx[574] - xx[575]);

  pm_math_cross3(xx + 576, xx + 24, xx + 579);

  pm_math_quatXform(xx + 561, xx + 579, xx + 576);

  xx[547] = xx[117] * motionData[417];

  xx[557] = xx[70] * motionData[417];

  xx[558] = xx[557] - xx[569];

  xx[569] = xx[117] * motionData[419];

  xx[579] = xx[547];

  xx[580] = xx[558];

  xx[581] = xx[569];

  pm_math_cross3(xx + 142, xx + 579, xx + 582);

  xx[579] = motionData[419] + (xx[547] * xx[68] + xx[582]) * xx[4] + xx[162] +

    xx[19];

  xx[580] = (xx[558] * xx[68] + xx[583]) * xx[4] + xx[155];

  xx[581] = (xx[569] * xx[68] + xx[584]) * xx[4] + xx[161] - motionData[417] -

    xx[6];

  pm_math_quatXform(xx + 119, xx + 579, xx + 582);

  xx[579] = xx[4] * (xx[560] - xx[559]);

  xx[580] = (xx[575] + xx[574]) * xx[4];

  xx[581] = xx[5] - (xx[573] + xx[546]) * xx[4];

  pm_math_cross3(xx + 579, xx + 24, xx + 558);

  pm_math_quatXform(xx + 561, xx + 558, xx + 573);

  xx[546] = xx[124] * motionData[417];

  xx[547] = xx[124] * motionData[418];

  xx[558] = xx[557] - xx[568];

  xx[559] = xx[546];

  xx[560] = xx[547];

  xx[561] = xx[558];

  pm_math_cross3(xx + 142, xx + 559, xx + 562);

  xx[559] = (xx[546] * xx[68] + xx[562]) * xx[4] + xx[133] - motionData[418] +

    xx[8];

  xx[560] = motionData[417] + (xx[547] * xx[68] + xx[563]) * xx[4] + xx[66] +

    xx[6];

  xx[561] = (xx[558] * xx[68] + xx[564]) * xx[4] + xx[127];

  pm_math_quatXform(xx + 119, xx + 559, xx + 562);

  xx[557] = motionData[70];

  xx[558] = motionData[71];

  xx[559] = motionData[72];

  xx[560] = motionData[73];

  pm_math_quatCompose(xx + 169, xx + 557, xx + 585);

  xx[557] = xx[4] * (motionData[71] * motionData[73] - motionData[70] *

                     motionData[72]);

  xx[558] = (motionData[70] * motionData[71] + motionData[72] * motionData[73]) *

    xx[4];

  xx[559] = xx[5] - (motionData[71] * motionData[71] + motionData[72] *

                     motionData[72]) * xx[4];

  pm_math_cross3(xx + 557, xx + 24, xx + 579);

  pm_math_quatXform(xx + 585, xx + 579, xx + 557);

  xx[546] = xx[126] * motionData[75];

  xx[547] = xx[126] * motionData[74];

  xx[560] = xx[4] * (xx[546] * xx[126] - xx[125] * xx[547]) - motionData[75] +

    xx[148];

  xx[561] = motionData[74] - ((xx[125] * xx[546] + xx[547] * xx[126]) * xx[4] -

    xx[160]) - xx[137];

  xx[546] = xx[561] * motionData[220];

  xx[547] = xx[560] * motionData[220];

  xx[568] = xx[561] * motionData[218] - xx[560] * motionData[219];

  xx[579] = - xx[546];

  xx[580] = xx[547];

  xx[581] = xx[568];

  pm_math_cross3(xx + 173, xx + 579, xx + 585);

  xx[569] = xx[2] * state[38];

  xx[579] = cos(xx[569]);

  xx[580] = xx[442] * xx[579];

  xx[581] = sin(xx[569]);

  xx[569] = xx[442] * xx[581];

  xx[442] = xx[580] + xx[569];

  xx[588] = xx[463] * xx[579];

  xx[579] = xx[463] * xx[581];

  xx[463] = xx[588] - xx[579];

  xx[581] = xx[588] + xx[579];

  xx[579] = xx[580] - xx[569];

  xx[588] = xx[442];

  xx[589] = xx[463];

  xx[590] = xx[581];

  xx[591] = xx[579];

  pm_math_quatCompose(xx + 325, xx + 588, xx + 592);

  xx[569] = xx[6] * xx[595];

  xx[580] = xx[6] * xx[593] - xx[8] * xx[594];

  xx[588] = - xx[569];

  xx[589] = xx[8] * xx[595];

  xx[590] = xx[580];

  pm_math_cross3(xx + 593, xx + 588, xx + 596);

  xx[588] = 6.30935626036444e-12;

  xx[589] = xx[463];

  xx[590] = xx[581];

  xx[591] = xx[579];

  xx[593] = 5.998698970888227e-12;

  xx[594] = xx[593] * xx[579];

  xx[599] = xx[588] * xx[579];

  xx[579] = xx[593] * xx[463] + xx[581] * xx[588];

  xx[600] = xx[594];

  xx[601] = xx[599];

  xx[602] = - xx[579];

  pm_math_cross3(xx + 589, xx + 600, xx + 603);

  xx[589] = xx[588] + xx[4] * (xx[603] + xx[442] * xx[594]);

  xx[590] = (xx[442] * xx[599] + xx[604]) * xx[4] - xx[593];

  xx[591] = (xx[605] - xx[442] * xx[579]) * xx[4];

  pm_math_quatXform(xx + 325, xx + 589, xx + 599);

  xx[442] = 0.3162538200043575;

  xx[463] = xx[2] * state[86];

  xx[579] = sin(xx[463]);

  xx[581] = 0.3162553791961478;

  xx[588] = cos(xx[463]);

  xx[463] = xx[442] * xx[579] - xx[581] * xx[588];

  xx[589] = 0.6324445710612973;

  xx[590] = 0.6324396579890008;

  xx[591] = xx[589] * xx[588] + xx[590] * xx[579];

  xx[593] = - xx[591];

  xx[594] = xx[590] * xx[588] - xx[589] * xx[579];

  xx[589] = xx[442] * xx[588] + xx[581] * xx[579];

  xx[602] = xx[463];

  xx[603] = xx[593];

  xx[604] = xx[594];

  xx[605] = xx[589];

  xx[606] = motionData[406];

  xx[607] = motionData[407];

  xx[608] = motionData[408];

  xx[609] = motionData[409];

  pm_math_quatCompose(xx + 602, xx + 606, xx + 610);

  xx[602] = xx[4] * (motionData[406] * motionData[408] - motionData[407] *

                     motionData[409]);

  xx[603] = - ((motionData[406] * motionData[407] + motionData[408] *

                motionData[409]) * xx[4]);

  xx[604] = (motionData[407] * motionData[407] + motionData[408] * motionData

             [408]) * xx[4] - xx[5];

  pm_math_cross3(xx + 602, xx + 208, xx + 605);

  pm_math_quatXform(xx + 610, xx + 605, xx + 602);

  xx[442] = xx[589] * motionData[410];

  xx[605] = xx[593];

  xx[606] = xx[594];

  xx[607] = xx[589];

  xx[579] = xx[589] * motionData[411];

  xx[581] = xx[594] * motionData[411] - xx[591] * motionData[410];

  xx[608] = xx[442];

  xx[609] = xx[579];

  xx[610] = - xx[581];

  pm_math_cross3(xx + 605, xx + 608, xx + 611);

  xx[588] = xx[27] * xx[591];

  xx[590] = xx[27] * xx[589];

  xx[593] = xx[2] * state[88];

  xx[605] = cos(xx[593]);

  xx[606] = sin(xx[593]);

  xx[607] = xx[605] * motionData[169] - xx[606] * motionData[170];

  xx[608] = - (xx[605] * motionData[168] + xx[606] * motionData[171]);

  xx[609] = xx[606] * motionData[168] - xx[605] * motionData[171];

  xx[610] = xx[606] * motionData[169] + xx[605] * motionData[170];

  xx[614] = motionData[182];

  xx[615] = motionData[183];

  xx[616] = motionData[184];

  xx[617] = motionData[185];

  pm_math_quatCompose(xx + 607, xx + 614, xx + 618);

  xx[607] = xx[4] * (motionData[183] * motionData[185] - motionData[182] *

                     motionData[184]);

  xx[608] = (motionData[182] * motionData[183] + motionData[184] * motionData

             [185]) * xx[4];

  xx[609] = xx[5] - (motionData[183] * motionData[183] + motionData[184] *

                     motionData[184]) * xx[4];

  pm_math_cross3(xx + 607, xx + 208, xx + 614);

  pm_math_quatXform(xx + 618, xx + 614, xx + 607);

  xx[593] = xx[606] * motionData[187] - xx[605] * motionData[186];

  xx[610] = 1.600627075326599e-13;

  xx[614] = 8.497959654019115e-12;

  xx[615] = xx[610] * xx[605] + xx[614] * xx[606];

  xx[616] = xx[4] * xx[606] * xx[593] - (motionData[187] - xx[4] * xx[615] * xx

    [606]) - xx[614];

  xx[617] = motionData[169];

  xx[618] = motionData[170];

  xx[619] = motionData[171];

  xx[606] = motionData[186] + xx[4] * xx[605] * xx[593] + xx[4] * xx[615] * xx

    [605] - xx[610];

  xx[593] = xx[606] * motionData[171];

  xx[605] = xx[616] * motionData[171];

  xx[610] = xx[606] * motionData[169] - xx[616] * motionData[170];

  xx[620] = - xx[593];

  xx[621] = xx[605];

  xx[622] = xx[610];

  pm_math_cross3(xx + 617, xx + 620, xx + 623);

  xx[617] = motionData[385];

  xx[618] = motionData[386];

  xx[619] = motionData[387];

  xx[620] = motionData[388];

  xx[614] = xx[55] * state[93] - xx[56] * state[90];

  xx[615] = xx[55] * state[92] + xx[56] * state[91];

  xx[621] = - xx[615];

  xx[622] = xx[56] * state[92] - xx[55] * state[91];

  xx[626] = - xx[622];

  xx[627] = xx[55] * state[90] + xx[56] * state[93];

  xx[628] = - xx[627];

  xx[629] = xx[614];

  xx[630] = xx[621];

  xx[631] = xx[626];

  xx[632] = xx[628];

  pm_math_quatCompose(xx + 617, xx + 629, xx + 633);

  pm_math_quatXform(xx + 633, xx + 247, xx + 637);

  pm_math_quatXform(xx + 629, xx + 99, xx + 640);

  pm_math_quatXform(xx + 617, xx + 640, xx + 643);

  pm_math_quatXform(xx + 633, xx + 253, xx + 640);

  pm_math_quatXform(xx + 629, xx + 105, xx + 646);

  pm_math_quatXform(xx + 617, xx + 646, xx + 629);

  xx[632] = xx[191] * xx[636];

  xx[646] = xx[191] * xx[634] + xx[192] * xx[635];

  xx[647] = - xx[632];

  xx[648] = - (xx[192] * xx[636]);

  xx[649] = xx[646];

  pm_math_cross3(xx + 634, xx + 647, xx + 650);

  xx[647] = xx[621];

  xx[648] = xx[626];

  xx[649] = xx[628];

  xx[621] = xx[86] * xx[627];

  xx[626] = xx[112] * xx[627];

  xx[627] = xx[86] * xx[615] + xx[622] * xx[112];

  xx[653] = xx[621];

  xx[654] = xx[626];

  xx[655] = - xx[627];

  pm_math_cross3(xx + 647, xx + 653, xx + 656);

  xx[647] = xx[4] * (xx[656] + xx[621] * xx[614]) - xx[112];

  xx[648] = xx[86] + (xx[626] * xx[614] + xx[657]) * xx[4];

  xx[649] = (xx[658] - xx[627] * xx[614]) * xx[4];

  pm_math_quatXform(xx + 617, xx + 647, xx + 626);

  xx[617] = motionData[490];

  xx[618] = motionData[491];

  xx[619] = motionData[492];

  xx[620] = motionData[493];

  pm_math_quatCompose(xx + 12, xx + 617, xx + 653);

  xx[12] = xx[4] * (motionData[490] * motionData[492] - motionData[491] *

                    motionData[493]);

  xx[13] = - ((motionData[490] * motionData[491] + motionData[492] * motionData

               [493]) * xx[4]);

  xx[14] = (motionData[491] * motionData[491] + motionData[492] * motionData[492])

    * xx[4] - xx[5];

  pm_math_cross3(xx + 12, xx + 24, xx + 617);

  pm_math_quatXform(xx + 653, xx + 617, xx + 12);

  xx[15] = xx[7] * motionData[494];

  xx[614] = xx[7] * motionData[495];

  xx[7] = xx[11] * motionData[495] - xx[9] * motionData[494];

  xx[617] = - xx[15];

  xx[618] = - xx[614];

  xx[619] = - xx[7];

  pm_math_cross3(xx + 20, xx + 617, xx + 620);

  xx[653] = motionData[483];

  xx[654] = motionData[484];

  xx[655] = motionData[485];

  xx[656] = motionData[486];

  pm_math_quatCompose(xx + 37, xx + 653, xx + 657);

  xx[20] = xx[4] * (motionData[484] * motionData[486] - motionData[483] *

                    motionData[485]);

  xx[21] = (motionData[483] * motionData[484] + motionData[485] * motionData[486])

    * xx[4];

  xx[22] = xx[5] - (motionData[484] * motionData[484] + motionData[485] *

                    motionData[485]) * xx[4];

  pm_math_cross3(xx + 20, xx + 24, xx + 37);

  pm_math_quatXform(xx + 657, xx + 37, xx + 20);

  xx[9] = xx[36] * motionData[488] - xx[35] * motionData[487];

  xx[11] = xx[4] * xx[36] * xx[9] - (motionData[488] + xx[47]) - xx[45];

  xx[36] = motionData[487] + xx[4] * xx[35] * xx[9] - xx[52] + xx[44];

  xx[9] = xx[36] * motionData[17];

  xx[35] = xx[11] * motionData[17];

  xx[37] = xx[36] * motionData[15] - xx[11] * motionData[16];

  xx[38] = - xx[9];

  xx[39] = xx[35];

  xx[40] = xx[37];

  pm_math_cross3(xx + 49, xx + 38, xx + 617);

  xx[49] = motionData[476];

  xx[50] = motionData[477];

  xx[51] = motionData[478];

  xx[52] = motionData[479];

  pm_math_quatCompose(xx + 75, xx + 49, xx + 653);

  xx[38] = motionData[477];

  xx[39] = motionData[478];

  xx[40] = motionData[479];

  xx[44] = xx[82] * motionData[479];

  xx[45] = xx[82] * motionData[477] + motionData[478];

  xx[49] = xx[44];

  xx[50] = motionData[479];

  xx[51] = - xx[45];

  pm_math_cross3(xx + 38, xx + 49, xx + 75);

  xx[47] = motionData[476] * motionData[479];

  xx[49] = xx[5] + (xx[75] - xx[44] * motionData[476]) * xx[4];

  xx[50] = xx[4] * (xx[76] - xx[47]) - xx[82];

  xx[51] = xx[4] * (xx[77] + xx[45] * motionData[476]);

  pm_math_cross3(xx + 49, xx + 24, xx + 75);

  pm_math_quatXform(xx + 653, xx + 75, xx + 49);

  xx[45] = - (xx[82] * motionData[482]);

  xx[75] = xx[45];

  xx[76] = - motionData[482];

  xx[77] = motionData[481] + xx[82] * motionData[480];

  pm_math_quatXform(xx + 71, xx + 75, xx + 647);

  xx[75] = xx[647] + xx[102];

  xx[76] = xx[648] + xx[103];

  xx[77] = xx[649] + xx[104];

  pm_math_quatXform(xx + 61, xx + 75, xx + 102);

  xx[52] = motionData[477] - xx[82] * motionData[478];

  xx[75] = - motionData[479];

  xx[76] = xx[44];

  xx[77] = xx[52];

  pm_math_cross3(xx + 38, xx + 75, xx + 647);

  xx[38] = xx[82] + (xx[47] + xx[647]) * xx[4];

  xx[39] = xx[5] + xx[4] * (xx[648] - xx[82] * xx[47]);

  xx[40] = xx[4] * (xx[649] - xx[52] * motionData[476]);

  pm_math_cross3(xx + 38, xx + 24, xx + 75);

  pm_math_quatXform(xx + 653, xx + 75, xx + 38);

  xx[75] = motionData[482];

  xx[76] = xx[45];

  xx[77] = xx[82] * motionData[481] - motionData[480];

  pm_math_quatXform(xx + 71, xx + 75, xx + 647);

  xx[71] = xx[647] + xx[90];

  xx[72] = xx[648] + xx[91];

  xx[73] = xx[649] + xx[92];

  pm_math_quatXform(xx + 61, xx + 71, xx + 74);

  xx[71] = xx[4] * (motionData[477] * motionData[479] - motionData[476] *

                    motionData[478]);

  xx[72] = (motionData[476] * motionData[477] + motionData[478] * motionData[479])

    * xx[4];

  xx[73] = xx[5] - (motionData[477] * motionData[477] + motionData[478] *

                    motionData[478]) * xx[4];

  pm_math_cross3(xx + 71, xx + 24, xx + 90);

  pm_math_quatXform(xx + 653, xx + 90, xx + 71);

  xx[44] = xx[69] * motionData[480];

  xx[45] = xx[69] * motionData[481];

  xx[47] = xx[65] * motionData[480] + xx[67] * motionData[481];

  xx[90] = xx[44];

  xx[91] = xx[45];

  xx[92] = - xx[47];

  pm_math_cross3(xx + 83, xx + 90, xx + 647);

  xx[82] = xx[4] * (xx[647] + xx[44] * xx[57]) + xx[118] - motionData[481] - xx

    [112];

  xx[83] = motionData[480] + xx[4] * (xx[648] + xx[45] * xx[57]) + xx[111] + xx

    [86];

  xx[84] = (xx[649] - xx[47] * xx[57]) * xx[4] + xx[113];

  pm_math_quatXform(xx + 61, xx + 82, xx + 90);

  xx[61] = motionData[469];

  xx[62] = motionData[470];

  xx[63] = motionData[471];

  xx[64] = motionData[472];

  pm_math_quatCompose(xx + 129, xx + 61, xx + 82);

  xx[44] = motionData[471] * motionData[471];

  xx[45] = motionData[472] * motionData[472];

  xx[47] = motionData[470] * motionData[471];

  xx[52] = motionData[469] * motionData[472];

  xx[57] = motionData[469] * motionData[471];

  xx[61] = motionData[470] * motionData[472];

  xx[62] = xx[5] - (xx[44] + xx[45]) * xx[4];

  xx[63] = xx[4] * (xx[47] - xx[52]);

  xx[64] = (xx[57] + xx[61]) * xx[4];

  pm_math_cross3(xx + 62, xx + 24, xx + 129);

  pm_math_quatXform(xx + 82, xx + 129, xx + 62);

  xx[65] = xx[117] * motionData[474];

  xx[67] = xx[124] * motionData[475];

  xx[69] = xx[65] + xx[67];

  xx[77] = xx[70] * motionData[474];

  xx[78] = xx[70] * motionData[475];

  xx[129] = - xx[69];

  xx[130] = - xx[77];

  xx[131] = - xx[78];

  pm_math_cross3(xx + 142, xx + 129, xx + 647);

  xx[129] = xx[4] * (xx[647] - xx[69] * xx[68]) + xx[156];

  xx[130] = xx[4] * (xx[648] - xx[77] * xx[68]) + xx[150] - motionData[475] -

    xx[19];

  xx[131] = motionData[474] + xx[4] * (xx[649] - xx[78] * xx[68]) + xx[154] -

    xx[8];

  pm_math_quatXform(xx + 119, xx + 129, xx + 647);

  xx[69] = motionData[470] * motionData[470];

  xx[77] = motionData[471] * motionData[472];

  xx[78] = motionData[469] * motionData[470];

  xx[129] = (xx[52] + xx[47]) * xx[4];

  xx[130] = xx[5] - (xx[45] + xx[69]) * xx[4];

  xx[131] = xx[4] * (xx[77] - xx[78]);

  pm_math_cross3(xx + 129, xx + 24, xx + 653);

  pm_math_quatXform(xx + 82, xx + 653, xx + 129);

  xx[45] = xx[117] * motionData[473];

  xx[47] = xx[70] * motionData[473];

  xx[52] = xx[47] - xx[67];

  xx[67] = xx[117] * motionData[475];

  xx[653] = xx[45];

  xx[654] = xx[52];

  xx[655] = xx[67];

  pm_math_cross3(xx + 142, xx + 653, xx + 656);

  xx[653] = motionData[475] + (xx[45] * xx[68] + xx[656]) * xx[4] + xx[162] +

    xx[19];

  xx[654] = (xx[52] * xx[68] + xx[657]) * xx[4] + xx[155];

  xx[655] = (xx[67] * xx[68] + xx[658]) * xx[4] + xx[161] - motionData[473] -

    xx[6];

  pm_math_quatXform(xx + 119, xx + 653, xx + 154);

  xx[653] = xx[4] * (xx[61] - xx[57]);

  xx[654] = (xx[78] + xx[77]) * xx[4];

  xx[655] = xx[5] - (xx[69] + xx[44]) * xx[4];

  pm_math_cross3(xx + 653, xx + 24, xx + 656);

  pm_math_quatXform(xx + 82, xx + 656, xx + 653);

  xx[19] = xx[124] * motionData[473];

  xx[44] = xx[124] * motionData[474];

  xx[45] = xx[47] - xx[65];

  xx[82] = xx[19];

  xx[83] = xx[44];

  xx[84] = xx[45];

  pm_math_cross3(xx + 142, xx + 82, xx + 656);

  xx[82] = (xx[19] * xx[68] + xx[656]) * xx[4] + xx[133] - motionData[474] + xx

    [8];

  xx[83] = motionData[473] + (xx[44] * xx[68] + xx[657]) * xx[4] + xx[66] + xx[6];

  xx[84] = (xx[45] * xx[68] + xx[658]) * xx[4] + xx[127];

  pm_math_quatXform(xx + 119, xx + 82, xx + 65);

  xx[82] = motionData[77];

  xx[83] = motionData[78];

  xx[84] = motionData[79];

  xx[85] = motionData[80];

  pm_math_quatCompose(xx + 169, xx + 82, xx + 117);

  xx[68] = xx[4] * (motionData[78] * motionData[80] - motionData[77] *

                    motionData[79]);

  xx[69] = (motionData[77] * motionData[78] + motionData[79] * motionData[80]) *

    xx[4];

  xx[70] = xx[5] - (motionData[78] * motionData[78] + motionData[79] *

                    motionData[79]) * xx[4];

  pm_math_cross3(xx + 68, xx + 24, xx + 82);

  pm_math_quatXform(xx + 117, xx + 82, xx + 24);

  xx[19] = xx[126] * motionData[82];

  xx[44] = xx[126] * motionData[81];

  xx[45] = xx[4] * (xx[19] * xx[126] - xx[125] * xx[44]) - motionData[82] + xx

    [148];

  xx[47] = motionData[81] - ((xx[125] * xx[19] + xx[44] * xx[126]) * xx[4] - xx

    [160]) - xx[137];

  xx[19] = xx[47] * motionData[220];

  xx[44] = xx[45] * motionData[220];

  xx[52] = xx[47] * motionData[218] - xx[45] * motionData[219];

  xx[68] = - xx[19];

  xx[69] = xx[44];

  xx[70] = xx[52];

  pm_math_cross3(xx + 173, xx + 68, xx + 82);

  xx[57] = xx[2] * state[40];

  xx[61] = sin(xx[57]);

  xx[68] = xx[306] * xx[61];

  xx[69] = cos(xx[57]);

  xx[57] = xx[306] * xx[69];

  xx[70] = xx[68] - xx[57];

  xx[77] = xx[331] * xx[69];

  xx[69] = xx[331] * xx[61];

  xx[61] = xx[77] + xx[69];

  xx[78] = - xx[61];

  xx[85] = xx[69] - xx[77];

  xx[69] = xx[68] + xx[57];

  xx[57] = - xx[69];

  xx[117] = xx[70];

  xx[118] = xx[78];

  xx[119] = xx[85];

  xx[120] = xx[57];

  pm_math_quatCompose(xx + 325, xx + 117, xx + 124);

  xx[68] = xx[6] * xx[127];

  xx[77] = xx[8] * xx[126] - xx[6] * xx[125];

  xx[117] = xx[68];

  xx[118] = - (xx[8] * xx[127]);

  xx[119] = xx[77];

  pm_math_cross3(xx + 125, xx + 117, xx + 120);

  xx[111] = 5.088251355846174e-12;

  xx[117] = xx[78];

  xx[118] = xx[85];

  xx[119] = xx[57];

  xx[57] = 7.483145982728478e-12;

  xx[78] = xx[69] * xx[57];

  xx[113] = xx[69] * xx[111];

  xx[69] = xx[61] * xx[57] + xx[111] * xx[85];

  xx[142] = xx[78];

  xx[143] = - xx[113];

  xx[144] = - xx[69];

  pm_math_cross3(xx + 117, xx + 142, xx + 160);

  xx[117] = xx[111] + xx[4] * (xx[160] + xx[78] * xx[70]);

  xx[118] = xx[57] + (xx[161] - xx[113] * xx[70]) * xx[4];

  xx[119] = (xx[162] - xx[70] * xx[69]) * xx[4];

  pm_math_quatXform(xx + 325, xx + 117, xx + 142);

  xx[57] = xx[2] * state[42];

  xx[61] = cos(xx[57]);

  xx[69] = sin(xx[57]);

  xx[57] = xx[316] * xx[61] + xx[330] * xx[69];

  xx[70] = xx[334] * xx[69] - xx[335] * xx[61];

  xx[78] = xx[334] * xx[61] + xx[335] * xx[69];

  xx[85] = xx[316] * xx[69] - xx[330] * xx[61];

  xx[169] = xx[57];

  xx[170] = xx[70];

  xx[171] = xx[78];

  xx[172] = xx[85];

  xx[325] = motionData[462];

  xx[326] = motionData[463];

  xx[327] = motionData[464];

  xx[328] = motionData[465];

  pm_math_quatCompose(xx + 169, xx + 325, xx + 656);

  xx[117] = xx[4] * (motionData[463] * motionData[465] - motionData[462] *

                     motionData[464]);

  xx[118] = (motionData[462] * motionData[463] + motionData[464] * motionData

             [465]) * xx[4];

  xx[119] = xx[5] - (motionData[463] * motionData[463] + motionData[464] *

                     motionData[464]) * xx[4];

  pm_math_cross3(xx + 117, xx + 208, xx + 160);

  pm_math_quatXform(xx + 656, xx + 160, xx + 117);

  xx[160] = xx[70];

  xx[161] = xx[78];

  xx[162] = xx[85];

  xx[61] = xx[85] * motionData[466];

  xx[69] = xx[85] * motionData[467];

  xx[111] = xx[70] * motionData[466] + xx[78] * motionData[467];

  xx[169] = - xx[61];

  xx[170] = - xx[69];

  xx[171] = xx[111];

  pm_math_cross3(xx + 160, xx + 169, xx + 172);

  xx[113] = xx[70] * xx[27];

  xx[125] = xx[85] * xx[27];

  xx[126] = xx[2] * state[44];

  xx[2] = cos(xx[126]);

  xx[132] = sin(xx[126]);

  xx[325] = xx[2] * motionData[85] - xx[132] * motionData[86];

  xx[326] = - (xx[2] * motionData[84] + xx[132] * motionData[87]);

  xx[327] = xx[132] * motionData[84] - xx[2] * motionData[87];

  xx[328] = xx[132] * motionData[85] + xx[2] * motionData[86];

  xx[656] = motionData[98];

  xx[657] = motionData[99];

  xx[658] = motionData[100];

  xx[659] = motionData[101];

  pm_math_quatCompose(xx + 325, xx + 656, xx + 660);

  xx[160] = xx[4] * (motionData[99] * motionData[101] - motionData[98] *

                     motionData[100]);

  xx[161] = (motionData[98] * motionData[99] + motionData[100] * motionData[101])

    * xx[4];

  xx[162] = xx[5] - (motionData[99] * motionData[99] + motionData[100] *

                     motionData[100]) * xx[4];

  pm_math_cross3(xx + 160, xx + 208, xx + 169);

  pm_math_quatXform(xx + 660, xx + 169, xx + 160);

  xx[5] = xx[132] * motionData[103] - xx[2] * motionData[102];

  xx[126] = 3.107391981487723e-12;

  xx[133] = 9.83617579279345e-12;

  xx[137] = xx[126] * xx[2] + xx[133] * xx[132];

  xx[148] = xx[4] * xx[132] * xx[5] - (motionData[103] - xx[4] * xx[137] * xx

    [132]) - xx[133];

  xx[169] = motionData[85];

  xx[170] = motionData[86];

  xx[171] = motionData[87];

  xx[132] = motionData[102] + xx[4] * xx[2] * xx[5] + xx[4] * xx[137] * xx[2] -

    xx[126];

  xx[2] = xx[132] * motionData[87];

  xx[5] = xx[148] * motionData[87];

  xx[126] = xx[132] * motionData[85] - xx[148] * motionData[86];

  xx[208] = - xx[2];

  xx[209] = xx[5];

  xx[210] = xx[126];

  pm_math_cross3(xx + 169, xx + 208, xx + 325);

  xx[656] = motionData[441];

  xx[657] = motionData[442];

  xx[658] = motionData[443];

  xx[659] = motionData[444];

  xx[133] = xx[55] * state[49] - xx[56] * state[46];

  xx[137] = xx[55] * state[48] + xx[56] * state[47];

  xx[150] = - xx[137];

  xx[169] = xx[56] * state[48] - xx[55] * state[47];

  xx[170] = - xx[169];

  xx[171] = xx[55] * state[46] + xx[56] * state[49];

  xx[55] = - xx[171];

  xx[660] = xx[133];

  xx[661] = xx[150];

  xx[662] = xx[170];

  xx[663] = xx[55];

  pm_math_quatCompose(xx + 656, xx + 660, xx + 664);

  pm_math_quatXform(xx + 664, xx + 247, xx + 208);

  pm_math_quatXform(xx + 660, xx + 99, xx + 247);

  pm_math_quatXform(xx + 656, xx + 247, xx + 99);

  pm_math_quatXform(xx + 664, xx + 253, xx + 247);

  pm_math_quatXform(xx + 660, xx + 105, xx + 253);

  pm_math_quatXform(xx + 656, xx + 253, xx + 105);

  xx[56] = xx[191] * xx[667];

  xx[175] = xx[191] * xx[665] + xx[192] * xx[666];

  xx[253] = - xx[56];

  xx[254] = - (xx[192] * xx[667]);

  xx[255] = xx[175];

  pm_math_cross3(xx + 665, xx + 253, xx + 660);

  xx[253] = xx[150];

  xx[254] = xx[170];

  xx[255] = xx[55];

  xx[55] = xx[86] * xx[171];

  xx[150] = xx[112] * xx[171];

  xx[170] = xx[86] * xx[137] + xx[169] * xx[112];

  xx[668] = xx[55];

  xx[669] = xx[150];

  xx[670] = - xx[170];

  pm_math_cross3(xx + 253, xx + 668, xx + 671);

  xx[253] = xx[4] * (xx[671] + xx[55] * xx[133]) - xx[112];

  xx[254] = xx[86] + (xx[150] * xx[133] + xx[672]) * xx[4];

  xx[255] = (xx[673] - xx[170] * xx[133]) * xx[4];

  pm_math_quatXform(xx + 656, xx + 253, xx + 169);

  J[6] = xx[16] + motionData[271] + (xx[30] - xx[3] * xx[1]) * xx[4] + xx[33];

  J[7] = xx[41] + xx[48] + xx[4] * (xx[58] - xx[34] * motionData[14]);

  J[8] = xx[93] + xx[96];

  J[9] = xx[79] + xx[87];

  J[10] = xx[108] + xx[114];

  J[11] = xx[139] + xx[145];

  J[12] = xx[157] + xx[163];

  J[13] = xx[166] + xx[134];

  J[14] = xx[151] + xx[149] + xx[4] * (xx[180] - xx[123] * motionData[217]);

  J[15] = xx[4] * (xx[193] - xx[177] * xx[188]) + xx[190] + xx[4] * (xx[202] -

    xx[178] * motionData[224]) + xx[8];

  J[30] = - (xx[205] + motionData[243] + (xx[217] - xx[187] * xx[186]) * xx[4] +

             xx[4] * (xx[201] * xx[211] - xx[187] * xx[212]));

  J[31] = - (xx[220] + xx[225] + xx[4] * (xx[232] - xx[213] * motionData[126]));

  J[32] = - (xx[250] + xx[256]);

  J[33] = - (xx[259] + xx[238]);

  J[34] = - (xx[4] * (xx[265] - xx[242] * xx[196]) + xx[235] - xx[192]);

  J[51] = xx[17] + (xx[31] - xx[3] * xx[10]) * xx[4] - (motionData[270] - xx[223])

    - xx[27];

  J[52] = xx[42] + xx[46] + (xx[53] * motionData[14] + xx[59]) * xx[4];

  J[53] = xx[94] + xx[97];

  J[54] = xx[80] + xx[88];

  J[55] = xx[109] + xx[115];

  J[56] = xx[140] + xx[146];

  J[57] = xx[158] + xx[164];

  J[58] = xx[167] + xx[135];

  J[59] = xx[152] + xx[138] + (xx[128] * motionData[217] + xx[181]) * xx[4];

  J[60] = (xx[177] * xx[189] + xx[194]) * xx[4] + xx[183] + (xx[179] *

    motionData[224] + xx[203]) * xx[4] + xx[6];

  J[75] = - (xx[206] + (xx[218] - xx[187] * xx[198]) * xx[4] - (motionData[242]

              - (xx[212] * xx[197] + xx[211] * xx[199]) * xx[4]) - xx[27]);

  J[76] = - (xx[221] + xx[215] + (xx[214] * motionData[126] + xx[233]) * xx[4]);

  J[77] = - (xx[251] + xx[257]);

  J[78] = - (xx[260] + xx[239]);

  J[79] = - ((xx[266] - xx[192] * xx[242] * xx[245]) * xx[4] + xx[236] + xx[191]);

  J[96] = xx[18] + xx[4] * (xx[32] - xx[3] * xx[23]) + xx[224];

  J[97] = xx[43] + (xx[54] * motionData[14] + xx[60]) * xx[4];

  J[98] = xx[95] + xx[98];

  J[99] = xx[81] + xx[89];

  J[100] = xx[110] + xx[116];

  J[101] = xx[141] + xx[147];

  J[102] = xx[159] + xx[165];

  J[103] = xx[168] + xx[136];

  J[104] = xx[153] + (xx[176] * motionData[217] + xx[182]) * xx[4];

  J[105] = (xx[177] * xx[184] + xx[195]) * xx[4] + (xx[185] * motionData[224] +

    xx[204]) * xx[4];

  J[120] = - (xx[207] + xx[4] * (xx[219] - xx[200] * xx[187]) + (xx[187] * xx

    [211] + xx[201] * xx[212]) * xx[4]);

  J[121] = - (xx[222] + (xx[216] * motionData[126] + xx[234]) * xx[4]);

  J[122] = - (xx[252] + xx[258]);

  J[123] = - (xx[261] + xx[240]);

  J[124] = - ((xx[242] * xx[241] + xx[267]) * xx[4] + xx[237]);

  J[141] = xx[226] + motionData[327] + (xx[268] - xx[3] * xx[28]) * xx[4] + xx

    [33];

  J[142] = xx[262] + xx[231] + xx[4] * (xx[274] - xx[230] * motionData[14]);

  J[143] = xx[285] + xx[291];

  J[144] = xx[271] + xx[277];

  J[145] = xx[288] + xx[280];

  J[146] = xx[302] + xx[307];

  J[147] = xx[313] + xx[319];

  J[148] = xx[310] + xx[299];

  J[149] = xx[294] + xx[297] + xx[4] * (xx[322] - xx[283] * motionData[217]);

  J[151] = xx[4] * (xx[343] + xx[339] * xx[318]) + xx[346] - xx[8];

  J[160] = - (xx[349] + xx[4] * (xx[355] - xx[329] * xx[317]) - motionData[299]

              + xx[4] * (xx[352] * xx[337] - xx[353] * xx[317]));

  J[161] = - (xx[360] + xx[366] + xx[4] * (xx[373] - xx[354] * motionData[105]));

  J[162] = - (xx[387] + xx[393]);

  J[163] = - (xx[390] + xx[379]);

  J[164] = - (xx[4] * (xx[400] - xx[383] * xx[382]) + xx[376] - xx[192]);

  J[186] = xx[227] + (xx[269] - xx[3] * xx[29]) * xx[4] - (motionData[326] - xx

    [223]) - xx[27];

  J[187] = xx[263] + xx[243] + (xx[244] * motionData[14] + xx[275]) * xx[4];

  J[188] = xx[286] + xx[292];

  J[189] = xx[272] + xx[278];

  J[190] = xx[289] + xx[281];

  J[191] = xx[303] + xx[308];

  J[192] = xx[314] + xx[320];

  J[193] = xx[311] + xx[300];

  J[194] = xx[295] + xx[298] + (xx[284] * motionData[217] + xx[323]) * xx[4];

  J[196] = (xx[344] - xx[8] * xx[339] * xx[342]) * xx[4] + xx[347] - xx[6];

  J[205] = - (xx[350] + motionData[298] + xx[4] * (xx[356] - xx[333] * xx[317])

              - (xx[338] * xx[353] + xx[336] * xx[352]) * xx[4] + xx[341]);

  J[206] = - (xx[361] + xx[359] + (xx[358] * motionData[105] + xx[374]) * xx[4]);

  J[207] = - (xx[388] + xx[394]);

  J[208] = - (xx[391] + xx[380]);

  J[209] = - ((xx[401] - xx[192] * xx[383] * xx[386]) * xx[4] + xx[377] + xx[191]);

  J[231] = xx[228] + xx[4] * (xx[270] - xx[229] * xx[3]) + xx[224];

  J[232] = xx[264] + (xx[246] * motionData[14] + xx[276]) * xx[4];

  J[233] = xx[287] + xx[293];

  J[234] = xx[273] + xx[279];

  J[235] = xx[290] + xx[282];

  J[236] = xx[304] + xx[309];

  J[237] = xx[315] + xx[321];

  J[238] = xx[312] + xx[301];

  J[239] = xx[296] + (xx[305] * motionData[217] + xx[324]) * xx[4];

  J[241] = (xx[339] * xx[332] + xx[345]) * xx[4] + xx[348];

  J[250] = - (xx[351] + (xx[340] * xx[317] + xx[357]) * xx[4] + (xx[352] * xx

    [317] + xx[353] * xx[337]) * xx[4]);

  J[251] = - (xx[362] + (xx[363] * motionData[105] + xx[375]) * xx[4]);

  J[252] = - (xx[389] + xx[395]);

  J[253] = - (xx[392] + xx[381]);

  J[254] = - ((xx[383] * xx[396] + xx[402]) * xx[4] + xx[378]);

  J[276] = xx[367] + motionData[383] + (xx[403] - xx[3] * xx[364]) * xx[4] + xx

    [33];

  J[277] = xx[397] + xx[372] + xx[4] * (xx[410] - xx[371] * motionData[14]);

  J[278] = xx[421] + xx[427];

  J[279] = xx[407] + xx[413];

  J[280] = xx[424] + xx[416];

  J[281] = xx[438] + xx[443];

  J[282] = xx[449] + xx[455];

  J[283] = xx[446] + xx[435];

  J[284] = xx[430] + xx[433] + xx[4] * (xx[458] - xx[419] * motionData[217]);

  J[287] = xx[4] * (xx[474] - xx[470] * xx[452]) + xx[464] + xx[8];

  J[305] = - (xx[478] + motionData[355] + (xx[487] - xx[461] * xx[453]) * xx[4]

              - xx[4] * (xx[477] * xx[468] + xx[461] * xx[471]));

  J[306] = - (xx[484] + xx[493] + xx[4] * (xx[500] - xx[481] * motionData[147]));

  J[307] = - (xx[514] + xx[520]);

  J[308] = - (xx[517] + xx[506]);

  J[309] = - (xx[4] * (xx[527] - xx[510] * xx[509]) + xx[503] - xx[192]);

  J[321] = xx[368] + (xx[404] - xx[3] * xx[365]) * xx[4] - (motionData[382] -

    xx[223]) - xx[27];

  J[322] = xx[398] + xx[384] + (xx[385] * motionData[14] + xx[411]) * xx[4];

  J[323] = xx[422] + xx[428];

  J[324] = xx[408] + xx[414];

  J[325] = xx[425] + xx[417];

  J[326] = xx[439] + xx[444];

  J[327] = xx[450] + xx[456];

  J[328] = xx[447] + xx[436];

  J[329] = xx[431] + xx[434] + (xx[420] * motionData[217] + xx[459]) * xx[4];

  J[332] = (xx[8] * xx[470] * xx[473] + xx[475]) * xx[4] + xx[465] + xx[6];

  J[350] = - (xx[479] + (xx[488] - xx[461] * xx[462]) * xx[4] - (motionData[354]

    - (xx[471] * xx[469] + xx[468] * xx[472]) * xx[4]) - xx[27]);

  J[351] = - (xx[485] + xx[483] + (xx[482] * motionData[147] + xx[501]) * xx[4]);

  J[352] = - (xx[515] + xx[521]);

  J[353] = - (xx[518] + xx[507]);

  J[354] = - ((xx[528] - xx[192] * xx[510] * xx[513]) * xx[4] + xx[504] + xx[191]);

  J[366] = xx[369] + xx[4] * (xx[405] - xx[370] * xx[3]) + xx[224];

  J[367] = xx[399] + (xx[406] * motionData[14] + xx[412]) * xx[4];

  J[368] = xx[423] + xx[429];

  J[369] = xx[409] + xx[415];

  J[370] = xx[426] + xx[418];

  J[371] = xx[440] + xx[445];

  J[372] = xx[451] + xx[457];

  J[373] = xx[448] + xx[437];

  J[374] = xx[432] + (xx[441] * motionData[217] + xx[460]) * xx[4];

  J[377] = (xx[470] * xx[454] + xx[476]) * xx[4] + xx[466];

  J[395] = - (xx[480] + xx[4] * (xx[489] - xx[461] * xx[467]) + (xx[477] * xx

    [471] - xx[461] * xx[468]) * xx[4]);

  J[396] = - (xx[486] + (xx[490] * motionData[147] + xx[502]) * xx[4]);

  J[397] = - (xx[516] + xx[522]);

  J[398] = - (xx[519] + xx[508]);

  J[399] = - ((xx[510] * xx[523] + xx[529]) * xx[4] + xx[505]);

  J[411] = xx[494] + motionData[439] + (xx[530] - xx[3] * xx[491]) * xx[4] + xx

    [33];

  J[412] = xx[524] + xx[499] + xx[4] * (xx[537] - xx[498] * motionData[14]);

  J[413] = xx[548] + xx[554];

  J[414] = xx[534] + xx[540];

  J[415] = xx[551] + xx[543];

  J[416] = xx[565] + xx[570];

  J[417] = xx[576] + xx[582];

  J[418] = xx[573] + xx[562];

  J[419] = xx[557] + xx[560] + xx[4] * (xx[585] - xx[546] * motionData[217]);

  J[423] = xx[4] * (xx[596] - xx[592] * xx[569]) + xx[599] + xx[8];

  J[445] = - (xx[602] + motionData[411] + (xx[463] * xx[442] + xx[611]) * xx[4]

              + xx[4] * (xx[594] * xx[588] + xx[463] * xx[590]));

  J[446] = - (xx[607] + xx[616] + xx[4] * (xx[623] - xx[593] * motionData[168]));

  J[447] = - (xx[637] + xx[643]);

  J[448] = - (xx[640] + xx[629]);

  J[449] = - (xx[4] * (xx[650] - xx[633] * xx[632]) + xx[626] - xx[192]);

  J[456] = xx[495] + (xx[531] - xx[3] * xx[492]) * xx[4] - (motionData[438] -

    xx[223]) - xx[27];

  J[457] = xx[525] + xx[511] + (xx[512] * motionData[14] + xx[538]) * xx[4];

  J[458] = xx[549] + xx[555];

  J[459] = xx[535] + xx[541];

  J[460] = xx[552] + xx[544];

  J[461] = xx[566] + xx[571];

  J[462] = xx[577] + xx[583];

  J[463] = xx[574] + xx[563];

  J[464] = xx[558] + xx[561] + (xx[547] * motionData[217] + xx[586]) * xx[4];

  J[468] = (xx[8] * xx[592] * xx[595] + xx[597]) * xx[4] + xx[600] + xx[6];

  J[490] = - (xx[603] + (xx[463] * xx[579] + xx[612]) * xx[4] - (motionData[410]

    - (xx[590] * xx[589] + xx[588] * xx[591]) * xx[4]) - xx[27]);

  J[491] = - (xx[608] + xx[606] + (xx[605] * motionData[168] + xx[624]) * xx[4]);

  J[492] = - (xx[638] + xx[644]);

  J[493] = - (xx[641] + xx[630]);

  J[494] = - ((xx[651] - xx[192] * xx[633] * xx[636]) * xx[4] + xx[627] + xx[191]);

  J[501] = xx[496] + xx[4] * (xx[532] - xx[497] * xx[3]) + xx[224];

  J[502] = xx[526] + (xx[533] * motionData[14] + xx[539]) * xx[4];

  J[503] = xx[550] + xx[556];

  J[504] = xx[536] + xx[542];

  J[505] = xx[553] + xx[545];

  J[506] = xx[567] + xx[572];

  J[507] = xx[578] + xx[584];

  J[508] = xx[575] + xx[564];

  J[509] = xx[559] + (xx[568] * motionData[217] + xx[587]) * xx[4];

  J[513] = (xx[592] * xx[580] + xx[598]) * xx[4] + xx[601];

  J[535] = - (xx[604] + xx[4] * (xx[613] - xx[463] * xx[581]) + (xx[463] * xx

    [588] - xx[594] * xx[590]) * xx[4]);

  J[536] = - (xx[609] + (xx[610] * motionData[168] + xx[625]) * xx[4]);

  J[537] = - (xx[639] + xx[645]);

  J[538] = - (xx[642] + xx[631]);

  J[539] = - ((xx[633] * xx[646] + xx[652]) * xx[4] + xx[628]);

  J[546] = xx[12] + motionData[495] + (xx[620] - xx[3] * xx[15]) * xx[4] + xx[33];

  J[547] = xx[20] + xx[11] + xx[4] * (xx[617] - xx[9] * motionData[14]);

  J[548] = xx[49] + xx[102];

  J[549] = xx[38] + xx[74];

  J[550] = xx[71] + xx[90];

  J[551] = xx[62] + xx[647];

  J[552] = xx[129] + xx[154];

  J[553] = xx[653] + xx[65];

  J[554] = xx[24] + xx[45] + xx[4] * (xx[82] - xx[19] * motionData[217]);

  J[559] = xx[4] * (xx[120] + xx[124] * xx[68]) + xx[142] - xx[8];

  J[560] = - (xx[117] + xx[4] * (xx[172] - xx[61] * xx[57]) - motionData[467] +

              xx[4] * (xx[113] * xx[78] - xx[125] * xx[57]));

  J[561] = - (xx[160] + xx[148] + xx[4] * (xx[325] - xx[2] * motionData[84]));

  J[562] = - (xx[208] + xx[99]);

  J[563] = - (xx[247] + xx[105]);

  J[564] = - (xx[4] * (xx[660] - xx[664] * xx[56]) + xx[169] - xx[192]);

  J[591] = xx[13] + (xx[621] - xx[3] * xx[614]) * xx[4] - (motionData[494] - xx

    [223]) - xx[27];

  J[592] = xx[21] + xx[36] + (xx[35] * motionData[14] + xx[618]) * xx[4];

  J[593] = xx[50] + xx[103];

  J[594] = xx[39] + xx[75];

  J[595] = xx[72] + xx[91];

  J[596] = xx[63] + xx[648];

  J[597] = xx[130] + xx[155];

  J[598] = xx[654] + xx[66];

  J[599] = xx[25] + xx[47] + (xx[44] * motionData[217] + xx[83]) * xx[4];

  J[604] = (xx[121] - xx[8] * xx[124] * xx[127]) * xx[4] + xx[143] - xx[6];

  J[605] = - (xx[118] + motionData[466] + xx[4] * (xx[173] - xx[69] * xx[57]) -

              (xx[85] * xx[125] + xx[70] * xx[113]) * xx[4] + xx[27]);

  J[606] = - (xx[161] + xx[132] + (xx[5] * motionData[84] + xx[326]) * xx[4]);

  J[607] = - (xx[209] + xx[100]);

  J[608] = - (xx[248] + xx[106]);

  J[609] = - ((xx[661] - xx[192] * xx[664] * xx[667]) * xx[4] + xx[170] + xx[191]);

  J[636] = xx[14] + xx[4] * (xx[622] - xx[7] * xx[3]) + xx[224];

  J[637] = xx[22] + (xx[37] * motionData[14] + xx[619]) * xx[4];

  J[638] = xx[51] + xx[104];

  J[639] = xx[40] + xx[76];

  J[640] = xx[73] + xx[92];

  J[641] = xx[64] + xx[649];

  J[642] = xx[131] + xx[156];

  J[643] = xx[655] + xx[67];

  J[644] = xx[26] + (xx[52] * motionData[217] + xx[84]) * xx[4];

  J[649] = (xx[124] * xx[77] + xx[122]) * xx[4] + xx[144];

  J[650] = - (xx[119] + (xx[111] * xx[57] + xx[174]) * xx[4] + (xx[113] * xx[57]

    + xx[125] * xx[78]) * xx[4]);

  J[651] = - (xx[162] + (xx[126] * motionData[84] + xx[327]) * xx[4]);

  J[652] = - (xx[210] + xx[101]);

  J[653] = - (xx[249] + xx[107]);

  J[654] = - ((xx[664] * xx[175] + xx[662]) * xx[4] + xx[171]);

  return 15;

}



static int isInKinematicSingularity_0(const double *rtdv, const double

  *motionData)

{

  (void) rtdv;

  (void) motionData;

  return 0;

}



static int isInKinematicSingularity_1(const double *rtdv, const double

  *motionData)

{

  (void) rtdv;

  (void) motionData;

  return 0;

}



static int isInKinematicSingularity_2(const double *rtdv, const double

  *motionData)

{

  (void) rtdv;

  (void) motionData;

  return 0;

}



static int isInKinematicSingularity_3(const double *rtdv, const double

  *motionData)

{

  (void) rtdv;

  (void) motionData;

  return 0;

}



static int isInKinematicSingularity_4(const double *rtdv, const double

  *motionData)

{

  (void) rtdv;

  (void) motionData;

  return 0;

}



int PlatformAssem_f0ca4364_1_isInKinematicSingularity(const void *mech, const

  double *rtdv, size_t constraintIdx, const double *motionData)

{

  (void) mech;

  (void) rtdv

    ;

  (void) motionData;

  switch (constraintIdx)

  {

   case 0:

    return isInKinematicSingularity_0(rtdv, motionData);



   case 1:

    return isInKinematicSingularity_1(rtdv, motionData);



   case 2:

    return isInKinematicSingularity_2(rtdv, motionData);



   case 3:

    return isInKinematicSingularity_3(rtdv, motionData);



   case 4:

    return isInKinematicSingularity_4(rtdv, motionData);

  }



  return 0;

}



PmfMessageId PlatformAssem_f0ca4364_1_convertStateVector(const void *asmMech,

  const double *rtdv, const void *simMech, const double *asmState, double

  *simState, void *neDiagMgr0)

{

  NeuDiagnosticManager *neDiagMgr = (NeuDiagnosticManager *) neDiagMgr0;

  double xx[60];

  (void) asmMech;

  (void) rtdv;

  (void) simMech;

  (void) neDiagMgr;

  xx[0] = 3.980251340548381e-7;

  xx[1] = 0.7058357201813958;

  xx[2] = 0.5;

  xx[3] = xx[2] * asmState[42];

  xx[4] = sin(xx[3]);

  xx[5] = 0.7058407546227096;

  xx[6] = cos(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = xx[2] * asmState[44];

  xx[8] = cos(xx[7]);

  xx[9] = sin(xx[7]);

  xx[7] = xx[1] * xx[6] + xx[5] * xx[4];

  xx[1] = 0.04233709306330295;

  xx[5] = 0.04233598682685397;

  xx[10] = xx[1] * xx[6] + xx[5] * xx[4];

  xx[11] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[12] = xx[3] * xx[8] - xx[9] * xx[7];

  xx[13] = - (xx[8] * xx[10] + xx[11] * xx[9]);

  xx[14] = xx[9] * xx[10] - xx[11] * xx[8];

  xx[15] = xx[3] * xx[9] + xx[8] * xx[7];

  xx[1] = 3.980251324392935e-7;

  xx[4] = 0.999999999999921;

  xx[16] = xx[1] * asmState[49] - xx[4] * asmState[46];

  xx[17] = - (xx[1] * asmState[48] + xx[4] * asmState[47]);

  xx[18] = - (xx[4] * asmState[48] - xx[1] * asmState[47]);

  xx[19] = - (xx[1] * asmState[46] + xx[4] * asmState[49]);

  pm_math_quatCompose(xx + 12, xx + 16, xx + 20);

  xx[5] = xx[2] * asmState[30];

  xx[6] = cos(xx[5]);

  xx[12] = xx[2] * asmState[14];

  xx[13] = cos(xx[12]);

  xx[14] = 0.5901074779979933;

  xx[15] = xx[2] * asmState[12];

  xx[24] = cos(xx[15]);

  xx[25] = 0.5901036711621462;

  xx[26] = sin(xx[15]);

  xx[15] = xx[14] * xx[24] + xx[25] * xx[26];

  xx[27] = xx[25] * xx[24] - xx[14] * xx[26];

  xx[14] = sin(xx[12]);

  xx[12] = 0.3895853754265615;

  xx[25] = 0.389581900177037;

  xx[28] = xx[12] * xx[24] - xx[25] * xx[26];

  xx[29] = xx[25] * xx[24] + xx[12] * xx[26];

  xx[30] = - (xx[13] * xx[15] + xx[27] * xx[14]);

  xx[31] = - (xx[28] * xx[13] - xx[14] * xx[29]);

  xx[32] = xx[28] * xx[14] + xx[13] * xx[29];

  xx[33] = xx[27] * xx[13] - xx[14] * xx[15];

  xx[34] = xx[1] * asmState[19] - xx[4] * asmState[16];

  xx[35] = - (xx[1] * asmState[18] + xx[4] * asmState[17]);

  xx[36] = - (xx[4] * asmState[18] - xx[1] * asmState[17]);

  xx[37] = - (xx[1] * asmState[16] + xx[4] * asmState[19]);

  pm_math_quatCompose(xx + 30, xx + 34, xx + 38);

  xx[30] = xx[4] * asmState[26] - xx[0] * asmState[23];

  xx[31] = xx[4] * asmState[25] - xx[0] * asmState[24];

  xx[32] = - (xx[0] * asmState[25] + xx[4] * asmState[24]);

  xx[33] = - (xx[0] * asmState[26] + xx[4] * asmState[23]);

  pm_math_quatCompose(xx + 38, xx + 30, xx + 42);

  xx[12] = sin(xx[5]);

  xx[38] = xx[6] * xx[42] - xx[45] * xx[12];

  xx[39] = xx[6] * xx[43] + xx[44] * xx[12];

  xx[40] = xx[6] * xx[44] - xx[43] * xx[12];

  xx[41] = xx[42] * xx[12] + xx[6] * xx[45];

  xx[5] = 0.6123724356957949;

  xx[24] = xx[2] * asmState[40];

  xx[25] = sin(xx[24]);

  xx[26] = xx[5] * xx[25];

  xx[42] = cos(xx[24]);

  xx[24] = xx[5] * xx[42];

  xx[5] = 0.3535533905932732;

  xx[43] = xx[5] * xx[42];

  xx[42] = xx[5] * xx[25];

  xx[44] = xx[26] - xx[24];

  xx[45] = - (xx[43] + xx[42]);

  xx[46] = xx[42] - xx[43];

  xx[47] = - (xx[26] + xx[24]);

  pm_math_quatCompose(xx + 38, xx + 44, xx + 48);

  pm_math_quatInverseCompose(xx + 20, xx + 48, xx + 38);

  xx[20] = xx[28];

  xx[21] = - xx[15];

  xx[22] = xx[27];

  xx[23] = - xx[29];

  xx[5] = 0.9982060081755033;

  xx[15] = xx[2] * asmState[6];

  xx[24] = cos(xx[15]);

  xx[25] = 7.822272946646824e-7;

  xx[26] = sin(xx[15]);

  xx[15] = 0.05987290897428056;

  xx[27] = 3.559887592452546e-6;

  xx[48] = - (xx[5] * xx[24] + xx[25] * xx[26]);

  xx[49] = xx[25] * xx[24] - xx[5] * xx[26];

  xx[50] = - (xx[15] * xx[24] + xx[27] * xx[26]);

  xx[51] = xx[27] * xx[24] - xx[15] * xx[26];

  xx[5] = xx[2] * asmState[7];

  xx[15] = 7.200670813652432e-6;

  xx[24] = sin(xx[5]);

  xx[25] = 0.9999999999734306;

  xx[26] = 1.135366319023148e-6;

  xx[52] = cos(xx[5]);

  xx[53] = - (xx[15] * xx[24]);

  xx[54] = xx[25] * xx[24];

  xx[55] = xx[26] * xx[24];

  pm_math_quatCompose(xx + 48, xx + 52, xx + 56);

  xx[5] = xx[2] * asmState[8];

  xx[2] = 0.1195309949245745;

  xx[24] = sin(xx[5]);

  xx[27] = 1.987929622149476e-6;

  xx[28] = 0.9928304695406913;

  xx[48] = cos(xx[5]);

  xx[49] = - (xx[2] * xx[24]);

  xx[50] = - (xx[27] * xx[24]);

  xx[51] = xx[28] * xx[24];

  pm_math_quatCompose(xx + 56, xx + 48, xx + 52);

  xx[5] = 2.0;

  xx[56] = - xx[15];

  xx[57] = xx[25];

  xx[58] = xx[26];

  pm_math_quatInverseXform(xx + 48, xx + 56, xx + 24);

  xx[48] = (1.0 - (xx[54] * xx[54] + xx[55] * xx[55]) * xx[5]) * asmState[9] +

    xx[24] * asmState[10] - xx[2] * asmState[11];

  xx[49] = xx[5] * (xx[53] * xx[54] - xx[52] * xx[55]) * asmState[9] + xx[25] *

    asmState[10] - xx[27] * asmState[11];

  xx[50] = xx[5] * (xx[52] * xx[54] + xx[53] * xx[55]) * asmState[9] + xx[26] *

    asmState[10] + xx[28] * asmState[11];

  pm_math_quatInverseXform(xx + 20, xx + 48, xx + 24);

  xx[2] = xx[13] * xx[25] + xx[24] * xx[14];

  xx[15] = xx[26] - asmState[13];

  xx[20] = xx[24] - xx[5] * xx[2] * xx[14];

  xx[21] = xx[25] - xx[5] * xx[2] * xx[13];

  xx[22] = xx[15] - (xx[13] * xx[13] * xx[15] + xx[14] * xx[15] * xx[14]) * xx[5]

    + asmState[15];

  pm_math_quatInverseXform(xx + 34, xx + 20, xx + 13);

  xx[2] = xx[1] * asmState[20];

  xx[20] = xx[1] * asmState[21];

  xx[21] = xx[13] + asmState[20] - (xx[1] * xx[2] - xx[4] * xx[20]) * xx[5];

  xx[22] = xx[14] + asmState[21] - xx[5] * (xx[4] * xx[2] + xx[1] * xx[20]);

  xx[23] = xx[15] + asmState[22];

  pm_math_quatInverseXform(xx + 30, xx + 21, xx + 13);

  xx[2] = xx[13] + asmState[27];

  xx[20] = xx[14] + asmState[28];

  xx[21] = xx[20] * xx[12];

  xx[22] = xx[2] * xx[12];

  xx[23] = xx[2] + xx[5] * (xx[6] * xx[21] - xx[22] * xx[12]);

  xx[24] = xx[20] - (xx[6] * xx[22] + xx[21] * xx[12]) * xx[5];

  xx[25] = xx[15] + asmState[29] + asmState[31];

  pm_math_quatInverseXform(xx + 44, xx + 23, xx + 12);

  xx[20] = xx[10];

  xx[21] = xx[3];

  xx[22] = xx[7];

  xx[23] = xx[11];

  pm_math_quatInverseXform(xx + 20, xx + 48, xx + 24);

  xx[2] = xx[8] * xx[25] + xx[24] * xx[9];

  xx[3] = xx[26] + asmState[43];

  xx[20] = xx[24] - xx[5] * xx[2] * xx[9];

  xx[21] = xx[25] - xx[5] * xx[2] * xx[8];

  xx[22] = xx[3] - (xx[8] * xx[3] * xx[8] + xx[3] * xx[9] * xx[9]) * xx[5] +

    asmState[45];

  pm_math_quatInverseXform(xx + 16, xx + 20, xx + 6);

  xx[2] = xx[1] * asmState[50];

  xx[3] = xx[1] * asmState[51];

  xx[9] = xx[6] + asmState[50] - (xx[1] * xx[2] - xx[4] * xx[3]) * xx[5];

  xx[10] = xx[7] + asmState[51] - xx[5] * (xx[4] * xx[2] + xx[1] * xx[3]);

  xx[11] = xx[8] + asmState[52];

  pm_math_quatInverseXform(xx + 38, xx + 9, xx + 1);

  simState[0] = asmState[0];

  simState[1] = asmState[1];

  simState[2] = asmState[2];

  simState[3] = asmState[3];

  simState[4] = asmState[4];

  simState[5] = asmState[5];

  simState[6] = asmState[6];

  simState[7] = asmState[7];

  simState[8] = asmState[8];

  simState[9] = asmState[9];

  simState[10] = asmState[10];

  simState[11] = asmState[11];

  simState[12] = asmState[12];

  simState[13] = asmState[13];

  simState[14] = asmState[14];

  simState[15] = asmState[15];

  simState[16] = asmState[16];

  simState[17] = asmState[17];

  simState[18] = asmState[18];

  simState[19] = asmState[19];

  simState[20] = asmState[20];

  simState[21] = asmState[21];

  simState[22] = asmState[22];

  simState[23] = asmState[42];

  simState[24] = asmState[43];

  simState[25] = asmState[44];

  simState[26] = asmState[45];

  simState[27] = asmState[46];

  simState[28] = asmState[47];

  simState[29] = asmState[48];

  simState[30] = asmState[49];

  simState[31] = asmState[50];

  simState[32] = asmState[51];

  simState[33] = asmState[52];

  simState[34] = - (xx[0] * xx[38] + xx[4] * xx[41]);

  simState[35] = - (xx[0] * xx[39] + xx[4] * xx[40]);

  simState[36] = xx[4] * xx[39] - xx[0] * xx[40];

  simState[37] = xx[4] * xx[38] - xx[0] * xx[41];

  simState[38] = xx[12] - xx[1];

  simState[39] = xx[13] - xx[2];

  simState[40] = xx[14] + asmState[41] - xx[3];

  simState[41] = asmState[40];

  simState[42] = asmState[41];

  simState[43] = asmState[32];

  simState[44] = asmState[33];

  simState[45] = asmState[34];

  simState[46] = asmState[35];

  simState[47] = asmState[36];

  simState[48] = asmState[37];

  simState[49] = asmState[38];

  simState[50] = asmState[39];

  simState[51] = asmState[30];

  simState[52] = asmState[31];

  simState[53] = asmState[53];

  simState[54] = asmState[54];

  simState[55] = asmState[55];

  simState[56] = asmState[56];

  simState[57] = asmState[57];

  simState[58] = asmState[58];

  simState[59] = asmState[59];

  simState[60] = asmState[60];

  simState[61] = asmState[61];

  simState[62] = asmState[62];

  simState[63] = asmState[63];

  simState[64] = asmState[64];

  simState[65] = asmState[65];

  simState[66] = asmState[66];

  simState[67] = asmState[67];

  simState[68] = asmState[68];

  simState[69] = asmState[69];

  simState[70] = asmState[70];

  simState[71] = asmState[71];

  simState[72] = asmState[72];

  simState[73] = asmState[73];

  simState[74] = asmState[74];

  simState[75] = asmState[75];

  simState[76] = asmState[76];

  simState[77] = asmState[77];

  simState[78] = asmState[78];

  simState[79] = asmState[79];

  simState[80] = asmState[80];

  simState[81] = asmState[81];

  simState[82] = asmState[82];

  simState[83] = asmState[83];

  simState[84] = asmState[84];

  simState[85] = asmState[85];

  simState[86] = asmState[86];

  simState[87] = asmState[87];

  simState[88] = asmState[88];

  simState[89] = asmState[89];

  simState[90] = asmState[90];

  simState[91] = asmState[91];

  simState[92] = asmState[92];

  simState[93] = asmState[93];

  simState[94] = asmState[94];

  simState[95] = asmState[95];

  simState[96] = asmState[96];

  return NULL;

}



void PlatformAssem_f0ca4364_1_constructStateVector(const void *mech, const

  double *solverState, const double *u, const double *uDot, double

  *discreteState, double *fullState)

{

  (void) mech;

  (void) discreteState;

  fullState[0] = u[0];

  fullState[1] = u[1];

  fullState[2] = u[2];

  fullState[3] = uDot[0];

  fullState[4] = uDot[1];

  fullState[5] = uDot[2];

  fullState[6] = u[3];

  fullState[7] = u[4];

  fullState[8] = u[5];

  fullState[9] = uDot[3];

  fullState[10] = uDot[4];

  fullState[11] = uDot[5];

  fullState[12] = u[7];

  fullState[13] = uDot[7];

  fullState[14] = solverState[0];

  fullState[15] = solverState[1];

  fullState[16] = solverState[2];

  fullState[17] = solverState[3];

  fullState[18] = solverState[4];

  fullState[19] = solverState[5];

  fullState[20] = solverState[6];

  fullState[21] = solverState[7];

  fullState[22] = solverState[8];

  fullState[23] = u[6];

  fullState[24] = uDot[6];

  fullState[25] = solverState[9];

  fullState[26] = solverState[10];

  fullState[27] = solverState[11];

  fullState[28] = solverState[12];

  fullState[29] = solverState[13];

  fullState[30] = solverState[14];

  fullState[31] = solverState[15];

  fullState[32] = solverState[16];

  fullState[33] = solverState[17];

  fullState[34] = solverState[18];

  fullState[35] = solverState[19];

  fullState[36] = solverState[20];

  fullState[37] = solverState[21];

  fullState[38] = solverState[22];

  fullState[39] = solverState[23];

  fullState[40] = solverState[24];

  fullState[41] = solverState[25];

  fullState[42] = solverState[26];

  fullState[43] = solverState[27];

  fullState[44] = solverState[28];

  fullState[45] = solverState[29];

  fullState[46] = solverState[30];

  fullState[47] = solverState[31];

  fullState[48] = solverState[32];

  fullState[49] = solverState[33];

  fullState[50] = solverState[34];

  fullState[51] = solverState[35];

  fullState[52] = solverState[36];

  fullState[53] = u[11];

  fullState[54] = uDot[11];

  fullState[55] = solverState[37];

  fullState[56] = solverState[38];

  fullState[57] = solverState[39];

  fullState[58] = solverState[40];

  fullState[59] = solverState[41];

  fullState[60] = solverState[42];

  fullState[61] = solverState[43];

  fullState[62] = solverState[44];

  fullState[63] = solverState[45];

  fullState[64] = u[8];

  fullState[65] = uDot[8];

  fullState[66] = solverState[46];

  fullState[67] = solverState[47];

  fullState[68] = solverState[48];

  fullState[69] = solverState[49];

  fullState[70] = solverState[50];

  fullState[71] = solverState[51];

  fullState[72] = solverState[52];

  fullState[73] = solverState[53];

  fullState[74] = solverState[54];

  fullState[75] = u[9];

  fullState[76] = uDot[9];

  fullState[77] = solverState[55];

  fullState[78] = solverState[56];

  fullState[79] = solverState[57];

  fullState[80] = solverState[58];

  fullState[81] = solverState[59];

  fullState[82] = solverState[60];

  fullState[83] = solverState[61];

  fullState[84] = solverState[62];

  fullState[85] = solverState[63];

  fullState[86] = u[10];

  fullState[87] = uDot[10];

  fullState[88] = solverState[64];

  fullState[89] = solverState[65];

  fullState[90] = solverState[66];

  fullState[91] = solverState[67];

  fullState[92] = solverState[68];

  fullState[93] = solverState[69];

  fullState[94] = solverState[70];

  fullState[95] = solverState[71];

  fullState[96] = solverState[72];

}



void PlatformAssem_f0ca4364_1_extractSolverStateVector(const void *mech, const

  double *fullState, double *solverState)

{

  (void) mech;

  solverState[0] = fullState[14];

  solverState[1] = fullState[15];

  solverState[2] = fullState[16];

  solverState[3] = fullState[17];

  solverState[4] = fullState[18];

  solverState[5] = fullState[19];

  solverState[6] = fullState[20];

  solverState[7] = fullState[21];

  solverState[8] = fullState[22];

  solverState[9] = fullState[25];

  solverState[10] = fullState[26];

  solverState[11] = fullState[27];

  solverState[12] = fullState[28];

  solverState[13] = fullState[29];

  solverState[14] = fullState[30];

  solverState[15] = fullState[31];

  solverState[16] = fullState[32];

  solverState[17] = fullState[33];

  solverState[18] = fullState[34];

  solverState[19] = fullState[35];

  solverState[20] = fullState[36];

  solverState[21] = fullState[37];

  solverState[22] = fullState[38];

  solverState[23] = fullState[39];

  solverState[24] = fullState[40];

  solverState[25] = fullState[41];

  solverState[26] = fullState[42];

  solverState[27] = fullState[43];

  solverState[28] = fullState[44];

  solverState[29] = fullState[45];

  solverState[30] = fullState[46];

  solverState[31] = fullState[47];

  solverState[32] = fullState[48];

  solverState[33] = fullState[49];

  solverState[34] = fullState[50];

  solverState[35] = fullState[51];

  solverState[36] = fullState[52];

  solverState[37] = fullState[55];

  solverState[38] = fullState[56];

  solverState[39] = fullState[57];

  solverState[40] = fullState[58];

  solverState[41] = fullState[59];

  solverState[42] = fullState[60];

  solverState[43] = fullState[61];

  solverState[44] = fullState[62];

  solverState[45] = fullState[63];

  solverState[46] = fullState[66];

  solverState[47] = fullState[67];

  solverState[48] = fullState[68];

  solverState[49] = fullState[69];

  solverState[50] = fullState[70];

  solverState[51] = fullState[71];

  solverState[52] = fullState[72];

  solverState[53] = fullState[73];

  solverState[54] = fullState[74];

  solverState[55] = fullState[77];

  solverState[56] = fullState[78];

  solverState[57] = fullState[79];

  solverState[58] = fullState[80];

  solverState[59] = fullState[81];

  solverState[60] = fullState[82];

  solverState[61] = fullState[83];

  solverState[62] = fullState[84];

  solverState[63] = fullState[85];

  solverState[64] = fullState[88];

  solverState[65] = fullState[89];

  solverState[66] = fullState[90];

  solverState[67] = fullState[91];

  solverState[68] = fullState[92];

  solverState[69] = fullState[93];

  solverState[70] = fullState[94];

  solverState[71] = fullState[95];

  solverState[72] = fullState[96];

}



int PlatformAssem_f0ca4364_1_isPositionViolation(const void *mech, const double *

  rtdv, const int *eqnEnableFlags, const double *state)

{

  int ii[3];

  double xx[151];

  (void) mech;

  (void) rtdv;

  (void) eqnEnableFlags;

  xx[0] = 0.5;

  xx[1] = xx[0] * state[43];

  xx[2] = cos(xx[1]);

  xx[3] = xx[0] * state[25];

  xx[4] = sin(xx[3]);

  xx[5] = 0.7058357201813958;

  xx[6] = xx[0] * state[23];

  xx[7] = cos(xx[6]);

  xx[8] = 0.7058407546227096;

  xx[9] = sin(xx[6]);

  xx[6] = xx[5] * xx[7] + xx[8] * xx[9];

  xx[10] = xx[5] * xx[9] - xx[8] * xx[7];

  xx[11] = cos(xx[3]);

  xx[3] = 0.04233709306330295;

  xx[12] = 0.04233598682685397;

  xx[13] = xx[3] * xx[7] + xx[12] * xx[9];

  xx[14] = xx[3] * xx[9] - xx[12] * xx[7];

  xx[15] = - (xx[4] * xx[6] - xx[10] * xx[11]);

  xx[16] = - (xx[11] * xx[13] + xx[14] * xx[4]);

  xx[17] = xx[4] * xx[13] - xx[14] * xx[11];

  xx[18] = xx[10] * xx[4] + xx[11] * xx[6];

  xx[7] = 3.980251324392935e-7;

  xx[9] = 0.999999999999921;

  xx[19] = xx[7] * state[30] - xx[9] * state[27];

  xx[20] = - (xx[7] * state[29] + xx[9] * state[28]);

  xx[21] = - (xx[9] * state[29] - xx[7] * state[28]);

  xx[22] = - (xx[7] * state[27] + xx[9] * state[30]);

  pm_math_quatCompose(xx + 15, xx + 19, xx + 23);

  xx[27] = 3.980251340548381e-7;

  xx[28] = xx[9] * state[37] - xx[27] * state[34];

  xx[29] = xx[9] * state[36] - xx[27] * state[35];

  xx[30] = - (xx[27] * state[36] + xx[9] * state[35]);

  xx[31] = - (xx[27] * state[37] + xx[9] * state[34]);

  pm_math_quatCompose(xx + 23, xx + 28, xx + 32);

  xx[27] = 0.3535533905932732;

  xx[36] = xx[0] * state[41];

  xx[37] = sin(xx[36]);

  xx[38] = 0.8660254037844377 * xx[37];

  xx[39] = xx[27] * xx[38];

  xx[40] = 0.6123724356957949;

  xx[41] = 0.5000000000000017 * xx[37];

  xx[37] = xx[40] * xx[41];

  xx[42] = cos(xx[36]);

  xx[36] = xx[40] * xx[42];

  xx[43] = xx[39] + xx[37] - xx[36];

  xx[44] = xx[40] * xx[38];

  xx[38] = xx[27] * xx[42];

  xx[42] = xx[27] * xx[41];

  xx[41] = xx[44] + xx[38] - xx[42];

  xx[45] = xx[38] - xx[44] + xx[42];

  xx[38] = xx[37] + xx[36] + xx[39];

  xx[46] = xx[43];

  xx[47] = xx[41];

  xx[48] = xx[45];

  xx[49] = xx[38];

  pm_math_quatCompose(xx + 32, xx + 46, xx + 50);

  xx[36] = sin(xx[1]);

  xx[46] = xx[2] * xx[50] + xx[53] * xx[36];

  xx[47] = xx[2] * xx[51] - xx[52] * xx[36];

  xx[48] = xx[2] * xx[52] + xx[51] * xx[36];

  xx[49] = xx[2] * xx[53] - xx[50] * xx[36];

  xx[1] = 7.599121945184391e-12;

  xx[37] = 5.036130209737022e-12;

  xx[39] = 5.192027881355888e-12;

  xx[54] = - xx[1];

  xx[55] = xx[37];

  xx[56] = - xx[39];

  pm_math_quatXform(xx + 46, xx + 54, xx + 57);

  xx[42] = 2.0;

  xx[44] = 2.191920996097441e-12;

  xx[46] = xx[44] * xx[36];

  xx[47] = 3.368449963403463e-13 * xx[36];

  xx[60] = - (0.02539999999966131 + xx[42] * (xx[2] * xx[46] + xx[47] * xx[36]));

  xx[61] = (xx[46] * xx[36] - xx[2] * xx[47]) * xx[42] - xx[44];

  xx[62] = - 0.1524264000010511;

  pm_math_quatXform(xx + 50, xx + 60, xx + 46);

  xx[2] = 0.09621024525612519;

  xx[36] = xx[2] * xx[45];

  xx[60] = xx[41];

  xx[61] = xx[45];

  xx[62] = xx[38];

  xx[44] = 0.1158410329922703;

  xx[49] = xx[44] * xx[38] - xx[41] * xx[2];

  xx[2] = xx[44] * xx[45];

  xx[63] = xx[36];

  xx[64] = xx[49];

  xx[65] = - xx[2];

  pm_math_cross3(xx + 60, xx + 63, xx + 66);

  xx[60] = - (0.1158410329997535 + (xx[36] * xx[43] + xx[66]) * xx[42]);

  xx[61] = 5.088251355846174e-12 - (xx[43] * xx[49] + xx[67]) * xx[42];

  xx[62] = - (0.1002102452613437 + xx[42] * (xx[68] - xx[2] * xx[43]));

  pm_math_quatXform(xx + 32, xx + 60, xx + 43);

  xx[2] = 3.641924106626229e-8;

  xx[32] = xx[1];

  xx[33] = - xx[37];

  xx[34] = xx[39];

  pm_math_quatXform(xx + 28, xx + 32, xx + 35);

  xx[1] = 0.04574999999998041;

  xx[28] = 2.92603149291605e-7;

  xx[29] = xx[2] + xx[35];

  xx[30] = xx[1] + xx[36];

  xx[31] = xx[28] + xx[37];

  pm_math_quatXform(xx + 23, xx + 29, xx + 32);

  xx[23] = 3.641162862673871e-8;

  xx[24] = 0.04575000000717538;

  xx[25] = - 2.926046524752066e-7;

  pm_math_quatXform(xx + 19, xx + 23, xx + 29);

  pm_math_quatXform(xx + 15, xx + 29, xx + 19);

  xx[15] = xx[13];

  xx[16] = xx[10];

  xx[17] = xx[6];

  xx[18] = xx[14];

  xx[22] = 9.83617579279345e-12;

  xx[26] = 3.107391981487723e-12 * xx[4] - xx[22] * xx[11];

  xx[29] = 7.175000002356807e-3;

  xx[35] = xx[42] * xx[26] * xx[4] + 0.03194045366784892;

  xx[36] = xx[42] * xx[26] * xx[11] + xx[22];

  xx[37] = 8.762500002356819e-3 - (xx[11] * xx[29] * xx[11] + xx[29] * xx[4] *

    xx[4]) * xx[42];

  pm_math_quatXform(xx + 15, xx + 35, xx + 29);

  xx[15] = xx[10];

  xx[16] = xx[6];

  xx[17] = xx[14];

  xx[4] = 1.5875e-3;

  xx[11] = xx[4] * xx[6];

  xx[18] = 0.02520954632904373;

  xx[22] = xx[10] * xx[4] - xx[14] * xx[18];

  xx[10] = xx[18] * xx[6];

  xx[35] = - xx[11];

  xx[36] = xx[22];

  xx[37] = xx[10];

  pm_math_cross3(xx + 15, xx + 35, xx + 60);

  xx[6] = xx[43] + xx[32] + xx[19] + xx[29] - (xx[60] - xx[11] * xx[13]) * xx[42]

    - 0.04299719117889741;

  xx[11] = 0.5901036711621467;

  xx[14] = xx[0] * state[64];

  xx[15] = cos(xx[14]);

  xx[16] = 0.5901074779979936;

  xx[17] = sin(xx[14]);

  xx[14] = xx[11] * xx[15] - xx[16] * xx[17];

  xx[26] = xx[0] * state[66];

  xx[35] = sin(xx[26]);

  xx[36] = cos(xx[26]);

  xx[26] = xx[16] * xx[15] + xx[11] * xx[17];

  xx[11] = 0.389585375426561;

  xx[16] = 0.3895819001770367;

  xx[37] = xx[11] * xx[15] - xx[16] * xx[17];

  xx[38] = xx[16] * xx[15] + xx[11] * xx[17];

  xx[63] = - (xx[14] * xx[35] + xx[36] * xx[26]);

  xx[64] = - (xx[37] * xx[36] - xx[35] * xx[38]);

  xx[65] = xx[37] * xx[35] + xx[36] * xx[38];

  xx[66] = xx[14] * xx[36] - xx[35] * xx[26];

  xx[67] = xx[7] * state[71] - xx[9] * state[68];

  xx[68] = - (xx[7] * state[70] + xx[9] * state[69]);

  xx[69] = - (xx[9] * state[70] - xx[7] * state[69]);

  xx[70] = - (xx[7] * state[68] + xx[9] * state[71]);

  pm_math_quatCompose(xx + 63, xx + 67, xx + 71);

  xx[15] = xx[2];

  xx[16] = xx[1];

  xx[17] = xx[28];

  pm_math_quatXform(xx + 71, xx + 15, xx + 75);

  pm_math_quatXform(xx + 67, xx + 23, xx + 71);

  pm_math_quatXform(xx + 63, xx + 71, xx + 67);

  xx[1] = - xx[26];

  xx[2] = - xx[38];

  xx[63] = xx[37];

  xx[64] = xx[1];

  xx[65] = xx[14];

  xx[66] = xx[2];

  xx[11] = 6.924287580811761e-12;

  xx[28] = xx[11] * xx[36] + 1.024070757638107e-11 * xx[35];

  xx[39] = 4.000000007367204e-3;

  xx[70] = xx[42] * xx[28] * xx[35] + 0.03194045366071555;

  xx[71] = xx[42] * xx[28] * xx[36] - xx[11];

  xx[72] = (xx[36] * xx[39] * xx[36] + xx[39] * xx[35] * xx[35]) * xx[42] -

    2.412500007367193e-3;

  pm_math_quatXform(xx + 63, xx + 70, xx + 78);

  xx[11] = 1.587500000000011e-3;

  xx[28] = xx[14] * xx[11];

  xx[63] = xx[1];

  xx[64] = xx[14];

  xx[65] = xx[2];

  xx[1] = xx[18] * xx[38] + xx[11] * xx[26];

  xx[2] = xx[14] * xx[18];

  xx[70] = xx[28];

  xx[71] = xx[1];

  xx[72] = xx[2];

  pm_math_cross3(xx + 63, xx + 70, xx + 81);

  xx[14] = xx[44] + xx[33] + xx[20] + xx[30] - (xx[22] * xx[13] + xx[61]) * xx

    [42] + 0.02992188481855372;

  xx[19] = xx[45] + xx[34] + xx[21] + xx[31] - xx[42] * (xx[62] + xx[10] * xx[13])

    + 0.1428830924490354;

  xx[10] = xx[0] * state[45];

  xx[13] = sin(xx[10]);

  xx[20] = xx[40] * xx[13];

  xx[21] = cos(xx[10]);

  xx[10] = xx[40] * xx[21];

  xx[22] = xx[27] * xx[21];

  xx[21] = xx[27] * xx[13];

  xx[29] = xx[20] - xx[10];

  xx[30] = - (xx[22] + xx[21]);

  xx[31] = xx[21] - xx[22];

  xx[32] = - (xx[20] + xx[10]);

  pm_math_quatCompose(xx + 50, xx + 29, xx + 33);

  pm_math_quatXform(xx + 33, xx + 54, xx + 20);

  xx[33] = - 1.121202762681406e-11;

  xx[34] = - 6.145027516349377e-13;

  xx[35] = - 3.999999999522439e-3;

  pm_math_quatXform(xx + 29, xx + 33, xx + 38);

  xx[29] = 0.1412410329922704 - xx[38];

  xx[30] = - xx[39];

  xx[31] = 0.05221615474387575 - xx[40];

  pm_math_quatXform(xx + 50, xx + 29, xx + 32);

  xx[10] = xx[0] * state[55];

  xx[13] = sin(xx[10]);

  xx[26] = xx[0] * state[53];

  xx[27] = cos(xx[26]);

  xx[29] = sin(xx[26]);

  xx[26] = xx[5] * xx[27] + xx[8] * xx[29];

  xx[30] = xx[5] * xx[29] - xx[8] * xx[27];

  xx[5] = cos(xx[10]);

  xx[8] = xx[3] * xx[27] + xx[12] * xx[29];

  xx[10] = xx[3] * xx[29] - xx[12] * xx[27];

  xx[38] = - (xx[13] * xx[26] - xx[30] * xx[5]);

  xx[39] = - (xx[5] * xx[8] + xx[10] * xx[13]);

  xx[40] = xx[13] * xx[8] - xx[10] * xx[5];

  xx[41] = xx[30] * xx[13] + xx[5] * xx[26];

  xx[60] = xx[7] * state[60] - xx[9] * state[57];

  xx[61] = - (xx[7] * state[59] + xx[9] * state[58]);

  xx[62] = - (xx[9] * state[59] - xx[7] * state[58]);

  xx[63] = - (xx[7] * state[57] + xx[9] * state[60]);

  pm_math_quatCompose(xx + 38, xx + 60, xx + 70);

  pm_math_quatXform(xx + 70, xx + 15, xx + 43);

  pm_math_quatXform(xx + 60, xx + 23, xx + 64);

  pm_math_quatXform(xx + 38, xx + 64, xx + 60);

  xx[38] = xx[8];

  xx[39] = xx[30];

  xx[40] = xx[26];

  xx[41] = xx[10];

  xx[3] = 5.443558296964576e-12;

  xx[12] = xx[3] * xx[5] - 9.27756931389703e-12 * xx[13];

  xx[27] = 7.174999998974562e-3;

  xx[63] = xx[42] * xx[12] * xx[13] + 0.03194045368023388;

  xx[64] = xx[42] * xx[12] * xx[5] - xx[3];

  xx[65] = 8.762499998974573e-3 - (xx[5] * xx[27] * xx[5] + xx[27] * xx[13] *

    xx[13]) * xx[42];

  pm_math_quatXform(xx + 38, xx + 63, xx + 70);

  xx[38] = xx[30];

  xx[39] = xx[26];

  xx[40] = xx[10];

  xx[3] = xx[4] * xx[26];

  xx[5] = 0.02520954632904374;

  xx[12] = xx[30] * xx[4] - xx[10] * xx[5];

  xx[4] = xx[5] * xx[26];

  xx[29] = - xx[3];

  xx[30] = xx[12];

  xx[31] = xx[4];

  pm_math_cross3(xx + 38, xx + 29, xx + 63);

  xx[5] = 0.3535533905932758;

  xx[10] = xx[0] * state[47];

  xx[13] = cos(xx[10]);

  xx[26] = xx[5] * xx[13];

  xx[27] = sin(xx[10]);

  xx[10] = xx[5] * xx[27];

  xx[29] = 0.6123724356957934;

  xx[30] = xx[29] * xx[27];

  xx[27] = xx[29] * xx[13];

  xx[38] = - (xx[26] + xx[10]);

  xx[39] = xx[30] - xx[27];

  xx[40] = - (xx[27] + xx[30]);

  xx[41] = xx[10] - xx[26];

  pm_math_quatCompose(xx + 50, xx + 38, xx + 84);

  pm_math_quatXform(xx + 84, xx + 54, xx + 88);

  xx[84] = 3.881762117297072e-12;

  xx[85] = - 3.80025733104361e-12;

  xx[86] = 3.999999998874377e-3;

  pm_math_quatXform(xx + 38, xx + 84, xx + 91);

  xx[38] = - (0.1412410329922711 + xx[91]);

  xx[39] = - xx[92];

  xx[40] = 0.05221615474387407 - xx[93];

  pm_math_quatXform(xx + 50, xx + 38, xx + 84);

  xx[10] = 0.6324445710612965;

  xx[13] = xx[0] * state[75];

  xx[26] = sin(xx[13]);

  xx[27] = 0.6324396579890005;

  xx[30] = cos(xx[13]);

  xx[13] = xx[10] * xx[26] - xx[27] * xx[30];

  xx[31] = xx[0] * state[77];

  xx[35] = sin(xx[31]);

  xx[36] = cos(xx[31]);

  xx[31] = xx[10] * xx[30] + xx[27] * xx[26];

  xx[10] = 0.3162553791961485;

  xx[27] = 0.3162538200043588;

  xx[38] = xx[10] * xx[30] - xx[27] * xx[26];

  xx[39] = xx[27] * xx[30] + xx[10] * xx[26];

  xx[91] = - (xx[13] * xx[35] - xx[36] * xx[31]);

  xx[92] = - (xx[38] * xx[36] - xx[35] * xx[39]);

  xx[93] = xx[38] * xx[35] + xx[36] * xx[39];

  xx[94] = xx[35] * xx[31] + xx[13] * xx[36];

  xx[95] = xx[7] * state[82] - xx[9] * state[79];

  xx[96] = - (xx[7] * state[81] + xx[9] * state[80]);

  xx[97] = - (xx[9] * state[81] - xx[7] * state[80]);

  xx[98] = - (xx[7] * state[79] + xx[9] * state[82]);

  pm_math_quatCompose(xx + 91, xx + 95, xx + 99);

  pm_math_quatXform(xx + 99, xx + 15, xx + 103);

  pm_math_quatXform(xx + 95, xx + 23, xx + 99);

  pm_math_quatXform(xx + 91, xx + 99, xx + 95);

  xx[10] = - xx[39];

  xx[91] = xx[38];

  xx[92] = xx[31];

  xx[93] = xx[13];

  xx[94] = xx[10];

  xx[26] = 9.862118968695376e-13;

  xx[27] = 5.157931604049537e-12 * xx[35] - xx[26] * xx[36];

  xx[30] = 3.99999999470772e-3;

  xx[98] = xx[42] * xx[27] * xx[35] + 0.03194045366579833;

  xx[99] = xx[42] * xx[27] * xx[36] + xx[26];

  xx[100] = (xx[36] * xx[30] * xx[36] + xx[30] * xx[35] * xx[35]) * xx[42] -

    2.412499994707708e-3;

  pm_math_quatXform(xx + 91, xx + 98, xx + 106);

  xx[26] = xx[13] * xx[11];

  xx[91] = xx[31];

  xx[92] = xx[13];

  xx[93] = xx[10];

  xx[10] = xx[18] * xx[39] - xx[11] * xx[31];

  xx[27] = xx[13] * xx[18];

  xx[39] = xx[26];

  xx[40] = xx[10];

  xx[41] = xx[27];

  pm_math_cross3(xx + 91, xx + 39, xx + 98);

  xx[13] = xx[0] * state[49];

  xx[30] = cos(xx[13]);

  xx[31] = xx[5] * xx[30];

  xx[35] = sin(xx[13]);

  xx[13] = xx[5] * xx[35];

  xx[5] = xx[29] * xx[30];

  xx[30] = xx[29] * xx[35];

  xx[91] = xx[31] + xx[13];

  xx[92] = xx[5] - xx[30];

  xx[93] = xx[5] + xx[30];

  xx[94] = xx[31] - xx[13];

  pm_math_quatCompose(xx + 50, xx + 91, xx + 109);

  pm_math_quatXform(xx + 109, xx + 54, xx + 29);

  xx[39] = - 5.998698970888227e-12;

  xx[40] = - 6.30935626036444e-12;

  xx[41] = 4.000000001735564e-3;

  pm_math_quatXform(xx + 91, xx + 39, xx + 109);

  xx[39] = - (0.1158410329922713 + xx[109]);

  xx[40] = - xx[110];

  xx[41] = 0.09621024525612379 - xx[111];

  pm_math_quatXform(xx + 50, xx + 39, xx + 91);

  xx[5] = 0.6324396579890008;

  xx[13] = xx[0] * state[86];

  xx[35] = cos(xx[13]);

  xx[36] = 0.6324445710612973;

  xx[39] = sin(xx[13]);

  xx[13] = xx[5] * xx[35] - xx[36] * xx[39];

  xx[40] = xx[0] * state[88];

  xx[41] = sin(xx[40]);

  xx[49] = cos(xx[40]);

  xx[40] = xx[36] * xx[35] + xx[5] * xx[39];

  xx[5] = 0.3162538200043575;

  xx[36] = 0.3162553791961478;

  xx[66] = xx[5] * xx[39] - xx[36] * xx[35];

  xx[73] = xx[5] * xx[35] + xx[36] * xx[39];

  xx[109] = - (xx[13] * xx[41] + xx[49] * xx[40]);

  xx[110] = - (xx[66] * xx[49] + xx[41] * xx[73]);

  xx[111] = xx[66] * xx[41] - xx[49] * xx[73];

  xx[112] = xx[13] * xx[49] - xx[41] * xx[40];

  xx[113] = xx[7] * state[93] - xx[9] * state[90];

  xx[114] = - (xx[7] * state[92] + xx[9] * state[91]);

  xx[115] = - (xx[9] * state[92] - xx[7] * state[91]);

  xx[116] = - (xx[7] * state[90] + xx[9] * state[93]);

  pm_math_quatCompose(xx + 109, xx + 113, xx + 117);

  pm_math_quatXform(xx + 117, xx + 15, xx + 121);

  pm_math_quatXform(xx + 113, xx + 23, xx + 117);

  pm_math_quatXform(xx + 109, xx + 117, xx + 113);

  xx[5] = - xx[40];

  xx[109] = xx[66];

  xx[110] = xx[5];

  xx[111] = xx[13];

  xx[112] = xx[73];

  xx[35] = 8.497959654019115e-12;

  xx[36] = 1.600627075326599e-13 * xx[41] - xx[35] * xx[49];

  xx[39] = 3.999999996613603e-3;

  xx[116] = xx[42] * xx[36] * xx[41] + 0.03194045367079622;

  xx[117] = xx[42] * xx[36] * xx[49] + xx[35];

  xx[118] = (xx[49] * xx[39] * xx[49] + xx[39] * xx[41] * xx[41]) * xx[42] -

    2.412499996613564e-3;

  pm_math_quatXform(xx + 109, xx + 116, xx + 124);

  xx[35] = 1.587499999999983e-3;

  xx[36] = xx[13] * xx[35];

  xx[109] = xx[5];

  xx[110] = xx[13];

  xx[111] = xx[73];

  xx[5] = xx[35] * xx[40] - xx[18] * xx[73];

  xx[35] = xx[13] * xx[18];

  xx[39] = xx[36];

  xx[40] = xx[5];

  xx[41] = xx[35];

  pm_math_cross3(xx + 109, xx + 39, xx + 116);

  xx[13] = xx[0] * state[51];

  xx[39] = cos(xx[13]);

  xx[40] = sin(xx[13]);

  xx[109] = xx[39] * xx[50] + xx[53] * xx[40];

  xx[110] = xx[39] * xx[51] - xx[52] * xx[40];

  xx[111] = xx[39] * xx[52] + xx[51] * xx[40];

  xx[112] = xx[39] * xx[53] - xx[50] * xx[40];

  pm_math_quatXform(xx + 109, xx + 54, xx + 127);

  xx[13] = 6.817225262079063e-12 * xx[40];

  xx[41] = 5.61723311615081e-12;

  xx[49] = xx[41] * xx[40];

  xx[54] = 0.02540000000681907 - xx[42] * (xx[13] * xx[40] - xx[39] * xx[49]);

  xx[55] = xx[41] - (xx[39] * xx[13] + xx[49] * xx[40]) * xx[42];

  xx[56] = - 0.152426400001803;

  pm_math_quatXform(xx + 50, xx + 54, xx + 39);

  xx[13] = 0.5901036711621462;

  xx[49] = xx[0] * state[12];

  xx[50] = cos(xx[49]);

  xx[51] = 0.5901074779979933;

  xx[52] = sin(xx[49]);

  xx[49] = xx[13] * xx[50] - xx[51] * xx[52];

  xx[53] = xx[0] * state[14];

  xx[0] = sin(xx[53]);

  xx[54] = cos(xx[53]);

  xx[53] = xx[51] * xx[50] + xx[13] * xx[52];

  xx[13] = 0.3895853754265615;

  xx[51] = 0.389581900177037;

  xx[55] = xx[13] * xx[50] - xx[51] * xx[52];

  xx[56] = xx[51] * xx[50] + xx[13] * xx[52];

  xx[109] = - (xx[49] * xx[0] + xx[54] * xx[53]);

  xx[110] = - (xx[55] * xx[54] - xx[0] * xx[56]);

  xx[111] = xx[55] * xx[0] + xx[54] * xx[56];

  xx[112] = xx[49] * xx[54] - xx[0] * xx[53];

  xx[130] = xx[7] * state[19] - xx[9] * state[16];

  xx[131] = - (xx[7] * state[18] + xx[9] * state[17]);

  xx[132] = - (xx[9] * state[18] - xx[7] * state[17]);

  xx[133] = - (xx[7] * state[16] + xx[9] * state[19]);

  pm_math_quatCompose(xx + 109, xx + 130, xx + 134);

  pm_math_quatXform(xx + 134, xx + 15, xx + 50);

  pm_math_quatXform(xx + 130, xx + 23, xx + 15);

  pm_math_quatXform(xx + 109, xx + 15, xx + 23);

  xx[7] = - xx[53];

  xx[9] = - xx[56];

  xx[109] = xx[55];

  xx[110] = xx[7];

  xx[111] = xx[49];

  xx[112] = xx[9];

  xx[13] = 5.376764528053357e-12;

  xx[15] = xx[13] * xx[54] + 7.748428954013064e-12 * xx[0];

  xx[16] = 4.0000000045273e-3;

  xx[130] = 0.03194045367870467 - xx[42] * xx[15] * xx[0];

  xx[131] = xx[13] - xx[42] * xx[15] * xx[54];

  xx[132] = (xx[54] * xx[16] * xx[54] + xx[16] * xx[0] * xx[0]) * xx[42] -

    2.412500004527289e-3;

  pm_math_quatXform(xx + 109, xx + 130, xx + 15);

  xx[0] = xx[49] * xx[11];

  xx[109] = xx[7];

  xx[110] = xx[49];

  xx[111] = xx[9];

  xx[7] = xx[18] * xx[56] + xx[11] * xx[53];

  xx[9] = xx[49] * xx[18];

  xx[130] = xx[0];

  xx[131] = xx[7];

  xx[132] = xx[9];

  pm_math_cross3(xx + 109, xx + 130, xx + 133);

  xx[136] = fabs(xx[57] + xx[46] + xx[6] - (xx[75] + xx[67] + xx[78] - (xx[37] *

    xx[28] + xx[81]) * xx[42]) - 0.1417622656843958);

  xx[137] = fabs(xx[58] + xx[47] + xx[14] - (xx[76] + xx[68] + xx[79] - (xx[37] *

    xx[1] + xx[82]) * xx[42]) - 0.02992349485130436);

  xx[138] = fabs(xx[59] + xx[48] + xx[19] - (xx[77] + xx[69] + xx[80] - xx[42] *

    (xx[83] + xx[37] * xx[2])) + 0.1065919054848736);

  xx[139] = fabs(xx[20] + xx[32] + xx[6] - (xx[43] + xx[60] + xx[70] - (xx[63] -

    xx[3] * xx[8]) * xx[42]) - 0.05787438452398606);

  xx[140] = fabs(xx[21] + xx[33] + xx[14] - (xx[44] + xx[61] + xx[71] - (xx[8] *

    xx[12] + xx[64]) * xx[42]) - 0.02992259737327991);

  xx[141] = fabs(xx[22] + xx[34] + xx[19] - (xx[45] + xx[62] + xx[72] - xx[42] *

    (xx[65] + xx[4] * xx[8])) - 0.1550274415345039);

  xx[142] = fabs(xx[88] + xx[84] + xx[6] - (xx[103] + xx[95] + xx[106] - (xx[38]

    * xx[26] + xx[98]) * xx[42]) + 0.06304794220310322);

  xx[143] = fabs(xx[89] + xx[85] + xx[14] - (xx[104] + xx[96] + xx[107] - (xx[38]

    * xx[10] + xx[99]) * xx[42]) - 0.02992204813763048);

  xx[144] = fabs(xx[90] + xx[86] + xx[19] - (xx[105] + xx[97] + xx[108] - xx[42]

    * (xx[100] + xx[38] * xx[27])) + 0.1313039406712666);

  xx[145] = fabs(xx[29] + xx[91] + xx[6] - (xx[121] + xx[113] + xx[124] - (xx[66]

    * xx[36] + xx[116]) * xx[42]) + 0.1240382406650065);

  xx[146] = fabs(xx[30] + xx[92] + xx[14] - (xx[122] + xx[114] + xx[125] - (xx

    [66] * xx[5] + xx[117]) * xx[42]) - 0.02992151662180351);

  xx[147] = fabs(xx[31] + xx[93] + xx[19] - (xx[123] + xx[115] + xx[126] - xx[42]

    * (xx[118] + xx[66] * xx[35])) + 0.04996916497694619);

  xx[148] = fabs(xx[127] + xx[39] + xx[6] - (xx[50] + xx[23] + xx[15] - (xx[55] *

    xx[0] + xx[133]) * xx[42]) - 0.1816563790182656);

  xx[149] = fabs(xx[128] + xx[40] + xx[14] - (xx[51] + xx[24] + xx[16] - (xx[55]

    * xx[7] + xx[134]) * xx[42]) - 0.02992367610368172);

  xx[150] = fabs(xx[129] + xx[41] + xx[19] - (xx[52] + xx[25] + xx[17] - xx[42] *

    (xx[135] + xx[55] * xx[9])) + 0.01321939793971065);

  ii[0] = 136;



  {

    int ll;

    for (ll = 137; ll < 151; ++ll)

      if (xx[ll] > xx[ii[0]])

        ii[0] = ll;

  }



  ii[0] -= 136;

  xx[0] = xx[136 + (ii[0])];

  xx[1] = xx[0] - 0.01;

  if (xx[1] < 0.0)

    ii[0] = -1;

  else if (xx[1] > 0.0)

    ii[0] = +1;

  else

    ii[0] = 0;

  ii[1] = ii[0];

  if (0 > ii[1])

    ii[1] = 0;

  return ii[1];

}



int PlatformAssem_f0ca4364_1_isVelocityViolation(const void *mech, const double *

  rtdv, const int *eqnEnableFlags, const double *state)

{

  int ii[3];

  double xx[177];

  (void) mech;

  (void) rtdv;

  (void) eqnEnableFlags;

  xx[0] = 0.04233709306330295;

  xx[1] = 0.5;

  xx[2] = xx[1] * state[23];

  xx[3] = cos(xx[2]);

  xx[4] = 0.04233598682685397;

  xx[5] = sin(xx[2]);

  xx[2] = xx[0] * xx[3] + xx[4] * xx[5];

  xx[6] = 0.7058357201813958;

  xx[7] = 0.7058407546227096;

  xx[8] = xx[6] * xx[5] - xx[7] * xx[3];

  xx[9] = xx[6] * xx[3] + xx[7] * xx[5];

  xx[10] = xx[0] * xx[5] - xx[4] * xx[3];

  xx[11] = xx[2];

  xx[12] = xx[8];

  xx[13] = xx[9];

  xx[14] = xx[10];

  xx[3] = 3.980251324392935e-7;

  xx[5] = 0.999999999999921;

  xx[15] = xx[3] * state[30] - xx[5] * state[27];

  xx[16] = - (xx[3] * state[29] + xx[5] * state[28]);

  xx[17] = - (xx[5] * state[29] - xx[3] * state[28]);

  xx[18] = - (xx[3] * state[27] + xx[5] * state[30]);

  xx[19] = 3.980251340548381e-7;

  xx[20] = xx[5] * state[37] - xx[19] * state[34];

  xx[21] = xx[5] * state[36] - xx[19] * state[35];

  xx[22] = - (xx[19] * state[36] + xx[5] * state[35]);

  xx[23] = - (xx[19] * state[37] + xx[5] * state[34]);

  xx[19] = xx[1] * state[43];

  xx[24] = cos(xx[19]);

  xx[25] = 0.3535533905932732;

  xx[26] = 0.8660254037844377;

  xx[27] = xx[1] * state[41];

  xx[28] = sin(xx[27]);

  xx[29] = xx[26] * xx[28];

  xx[30] = xx[25] * xx[29];

  xx[31] = 0.6123724356957949;

  xx[32] = 0.5000000000000017;

  xx[33] = xx[32] * xx[28];

  xx[28] = xx[31] * xx[33];

  xx[34] = cos(xx[27]);

  xx[27] = xx[31] * xx[34];

  xx[35] = xx[30] + xx[28] - xx[27];

  xx[36] = sin(xx[19]);

  xx[19] = xx[28] + xx[27] + xx[30];

  xx[27] = xx[31] * xx[29];

  xx[28] = xx[25] * xx[34];

  xx[29] = xx[25] * xx[33];

  xx[30] = xx[27] + xx[28] - xx[29];

  xx[33] = xx[28] - xx[27] + xx[29];

  xx[37] = xx[24] * xx[35] + xx[36] * xx[19];

  xx[38] = xx[30] * xx[24] - xx[36] * xx[33];

  xx[39] = xx[24] * xx[33] + xx[30] * xx[36];

  xx[40] = xx[24] * xx[19] - xx[36] * xx[35];

  pm_math_quatCompose(xx + 20, xx + 37, xx + 41);

  pm_math_quatCompose(xx + 15, xx + 41, xx + 45);

  xx[27] = xx[1] * state[25];

  xx[28] = sin(xx[27]);

  xx[29] = cos(xx[27]);

  xx[27] = xx[47] * xx[28] - xx[29] * xx[46];

  xx[34] = xx[48] * xx[28] - xx[29] * xx[45];

  xx[49] = xx[45] * xx[28] + xx[29] * xx[48];

  xx[50] = xx[29] * xx[47] + xx[46] * xx[28];

  xx[51] = - xx[27];

  xx[52] = xx[34];

  xx[53] = xx[49];

  xx[54] = - xx[50];

  pm_math_quatCompose(xx + 11, xx + 51, xx + 55);

  xx[51] = 2.0;

  xx[52] = xx[49] * state[24];

  xx[53] = xx[34] * state[24];

  xx[54] = xx[46] * state[26];

  xx[59] = xx[47] * state[26];

  xx[60] = xx[3] * state[31];

  xx[61] = xx[3] * state[32];

  xx[62] = state[31] - (xx[3] * xx[60] - xx[5] * xx[61]) * xx[51];

  xx[63] = state[32] - xx[51] * (xx[5] * xx[60] + xx[3] * xx[61]);

  xx[64] = state[33];

  pm_math_quatInverseXform(xx + 41, xx + 62, xx + 65);

  xx[41] = state[38];

  xx[42] = state[39];

  xx[43] = state[40];

  pm_math_quatInverseXform(xx + 37, xx + 41, xx + 68);

  xx[37] = xx[26] * state[42];

  xx[26] = xx[37] * xx[36];

  xx[38] = xx[32] * state[42];

  xx[71] = xx[51] * (xx[52] * xx[27] - xx[50] * xx[53]) + xx[51] * (xx[48] * xx

    [54] - xx[45] * xx[59]) + xx[65] + xx[68] + xx[51] * xx[26] * xx[36] - xx[37];

  xx[72] = (xx[45] * xx[54] + xx[48] * xx[59]) * xx[51] + xx[66] + xx[69] - xx

    [51] * xx[24] * xx[26] - (xx[53] * xx[27] + xx[50] * xx[52]) * xx[51];

  xx[73] = state[24] - (xx[53] * xx[34] + xx[49] * xx[52]) * xx[51] + state[26]

    - (xx[46] * xx[54] + xx[47] * xx[59]) * xx[51] + xx[67] + xx[70] - (xx[38] +

    state[44]);

  xx[26] = 7.599121945184391e-12;

  xx[27] = 5.036130209737022e-12;

  xx[32] = 5.192027881355888e-12;

  xx[44] = - xx[26];

  xx[45] = xx[27];

  xx[46] = - xx[32];

  pm_math_cross3(xx + 71, xx + 44, xx + 47);

  pm_math_quatXform(xx + 55, xx + 47, xx + 52);

  xx[34] = 0.02520954632904373;

  xx[39] = xx[8] * xx[34];

  xx[40] = xx[10] * xx[34];

  xx[47] = xx[51] * (xx[39] * xx[9] - xx[40] * xx[2]) * state[24];

  xx[48] = 3.107391981487723e-12;

  xx[49] = 9.83617579279345e-12;

  xx[50] = xx[48] * xx[29] + xx[49] * xx[28];

  xx[55] = (xx[51] * xx[50] * xx[28] - xx[49]) * state[26];

  xx[56] = 3.641162862673871e-8;

  xx[57] = 0.04575000000717538;

  xx[58] = - 2.926046524752066e-7;

  pm_math_cross3(xx + 62, xx + 56, xx + 59);

  pm_math_quatXform(xx + 15, xx + 59, xx + 65);

  xx[59] = xx[26];

  xx[60] = - xx[27];

  xx[61] = xx[32];

  pm_math_cross3(xx + 41, xx + 59, xx + 68);

  pm_math_quatXform(xx + 20, xx + 68, xx + 71);

  xx[26] = 0.02540000000000025;

  xx[27] = xx[26] * xx[19];

  xx[32] = xx[30] * xx[26];

  xx[68] = xx[51] * (xx[27] * xx[35] - xx[32] * xx[33]) * state[42];

  xx[74] = xx[35];

  xx[75] = xx[30];

  xx[76] = xx[33];

  xx[77] = xx[19];

  xx[69] = 2.191920996097441e-12;

  xx[70] = xx[69] * xx[36];

  xx[78] = xx[70] * xx[36];

  xx[79] = 3.368449963403463e-13;

  xx[80] = xx[79] * xx[36];

  xx[81] = xx[24] * xx[80];

  xx[82] = xx[69] - (xx[78] - xx[81]) * xx[51];

  xx[83] = xx[24] * xx[70];

  xx[24] = xx[80] * xx[36];

  xx[36] = 0.02539999999999815 + xx[51] * (xx[83] + xx[24]) - xx[79];

  xx[70] = 0.1524264000010511;

  xx[84] = (xx[51] * (xx[78] - xx[81]) - xx[69]) * state[44] - xx[38] * xx[82];

  xx[85] = ((xx[83] + xx[24]) * xx[51] - xx[79]) * state[44] + xx[38] * xx[36] -

    xx[70] * xx[37];

  xx[86] = xx[37] * xx[82];

  pm_math_quatXform(xx + 74, xx + 84, xx + 78);

  xx[83] = - xx[36];

  xx[84] = - xx[82];

  xx[85] = - xx[70];

  pm_math_quatXform(xx + 74, xx + 83, xx + 86);

  xx[24] = 0.09621024525612519;

  xx[36] = xx[24] * xx[33];

  xx[81] = xx[30];

  xx[82] = xx[33];

  xx[83] = xx[19];

  xx[69] = 0.1158410329922703;

  xx[70] = xx[69] * xx[19] - xx[30] * xx[24];

  xx[24] = xx[69] * xx[33];

  xx[89] = xx[36];

  xx[90] = xx[70];

  xx[91] = - xx[24];

  pm_math_cross3(xx + 81, xx + 89, xx + 92);

  xx[69] = 0.1158410329997535 + (xx[36] * xx[35] + xx[92]) * xx[51];

  xx[36] = 5.088251355846174e-12 - (xx[35] * xx[70] + xx[93]) * xx[51];

  xx[70] = 0.1002102452613437 + xx[51] * (xx[94] - xx[24] * xx[35]);

  xx[81] = xx[86] - xx[69];

  xx[82] = xx[87] + xx[36];

  xx[83] = xx[88] - xx[70];

  pm_math_cross3(xx + 41, xx + 81, xx + 84);

  xx[24] = ((xx[27] * xx[19] + xx[30] * xx[32]) * xx[51] - xx[26]) * state[42];

  xx[26] = xx[51] * (xx[32] * xx[35] + xx[27] * xx[33]) * state[42];

  xx[87] = xx[68] + xx[78] + xx[84];

  xx[88] = xx[24] + xx[79] + xx[85];

  xx[89] = xx[80] - xx[26] + xx[86];

  pm_math_quatXform(xx + 20, xx + 87, xx + 78);

  pm_math_quatXform(xx + 20, xx + 81, xx + 84);

  xx[27] = 3.641924106626229e-8;

  pm_math_quatXform(xx + 20, xx + 59, xx + 81);

  xx[32] = xx[27] + xx[81];

  xx[59] = 0.04574999999998041;

  xx[60] = xx[59] + xx[82];

  xx[61] = 2.92603149291605e-7;

  xx[81] = xx[61] + xx[83];

  xx[87] = xx[84] + xx[32];

  xx[88] = xx[85] + xx[60];

  xx[89] = xx[86] + xx[81];

  pm_math_cross3(xx + 62, xx + 87, xx + 82);

  xx[90] = xx[71] + xx[78] + xx[82];

  xx[91] = xx[72] + xx[79] + xx[83];

  xx[92] = xx[73] + xx[80] + xx[84];

  pm_math_quatXform(xx + 15, xx + 90, xx + 78);

  pm_math_quatXform(xx + 15, xx + 87, xx + 82);

  pm_math_quatXform(xx + 15, xx + 56, xx + 85);

  xx[88] = xx[83] + xx[86];

  xx[89] = xx[65] + xx[78] - xx[88] * state[26];

  xx[83] = xx[82] + xx[85];

  xx[82] = xx[66] + xx[79] + xx[83] * state[26];

  xx[84] = xx[82] * xx[29] + xx[28] * xx[89];

  xx[87] = xx[88] * xx[29] + xx[83] * xx[28];

  xx[90] = xx[48] * xx[28] - xx[49] * xx[29];

  xx[91] = xx[49] + xx[51] * xx[90] * xx[29];

  xx[49] = (xx[51] * xx[50] * xx[29] - xx[48]) * state[26];

  xx[48] = xx[51] * xx[90] * xx[28] + 0.03194045366784892;

  xx[50] = xx[67] + xx[80];

  xx[78] = xx[55] + xx[89] - xx[51] * xx[84] * xx[28] - (xx[88] - xx[51] * xx[87]

    * xx[29] + xx[91]) * state[24];

  xx[79] = xx[49] + xx[82] - xx[51] * xx[84] * xx[29] + (xx[83] - xx[51] * xx[87]

    * xx[28] + xx[48]) * state[24];

  xx[80] = xx[50] - (xx[29] * xx[50] * xx[29] + xx[50] * xx[28] * xx[28]) * xx

    [51];

  pm_math_quatXform(xx + 11, xx + 78, xx + 82);

  xx[50] = 0.389585375426561;

  xx[78] = xx[1] * state[64];

  xx[79] = cos(xx[78]);

  xx[80] = 0.3895819001770367;

  xx[87] = sin(xx[78]);

  xx[78] = xx[50] * xx[79] - xx[80] * xx[87];

  xx[88] = 0.5901074779979936;

  xx[89] = 0.5901036711621467;

  xx[90] = xx[88] * xx[79] + xx[89] * xx[87];

  xx[92] = xx[89] * xx[79] - xx[88] * xx[87];

  xx[88] = xx[80] * xx[79] + xx[50] * xx[87];

  xx[93] = xx[78];

  xx[94] = - xx[90];

  xx[95] = xx[92];

  xx[96] = - xx[88];

  xx[50] = xx[5] * state[70] - xx[3] * state[69];

  xx[79] = xx[1] * state[66];

  xx[80] = sin(xx[79]);

  xx[87] = cos(xx[79]);

  xx[79] = xx[3] * state[70] + xx[5] * state[69];

  xx[89] = xx[50] * xx[80] - xx[87] * xx[79];

  xx[97] = xx[3] * state[68] + xx[5] * state[71];

  xx[98] = xx[3] * state[71] - xx[5] * state[68];

  xx[99] = xx[80] * xx[97] + xx[87] * xx[98];

  xx[100] = xx[80] * xx[98] - xx[87] * xx[97];

  xx[101] = xx[50] * xx[87] + xx[80] * xx[79];

  xx[102] = xx[89];

  xx[103] = - xx[99];

  xx[104] = xx[100];

  xx[105] = xx[101];

  pm_math_quatCompose(xx + 93, xx + 102, xx + 106);

  xx[102] = xx[100] * state[65];

  xx[103] = xx[99] * state[65];

  xx[104] = xx[50] * state[67];

  xx[105] = xx[79] * state[67];

  xx[110] = xx[3] * state[72];

  xx[111] = xx[3] * state[73];

  xx[112] = state[72] - (xx[3] * xx[110] - xx[5] * xx[111]) * xx[51];

  xx[113] = state[73] - xx[51] * (xx[5] * xx[110] + xx[3] * xx[111]);

  xx[114] = xx[51] * (xx[89] * xx[102] + xx[103] * xx[101]) + (xx[104] * xx[98]

    + xx[105] * xx[97]) * xx[51] + xx[112];

  xx[115] = xx[51] * (xx[104] * xx[97] - xx[105] * xx[98]) + xx[113] - (xx[102] *

    xx[101] - xx[89] * xx[103]) * xx[51];

  xx[116] = (xx[103] * xx[99] + xx[100] * xx[102]) * xx[51] - state[65] + state

    [67] - (xx[105] * xx[79] + xx[50] * xx[104]) * xx[51] + state[74];

  xx[99] = xx[27];

  xx[100] = xx[59];

  xx[101] = xx[61];

  pm_math_cross3(xx + 114, xx + 99, xx + 102);

  pm_math_quatXform(xx + 106, xx + 102, xx + 114);

  xx[27] = xx[34] * xx[90];

  xx[59] = xx[34] * xx[88];

  xx[61] = 6.924287580811761e-12;

  xx[89] = 1.024070757638107e-11;

  xx[102] = xx[61] * xx[80] - xx[89] * xx[87];

  xx[103] = xx[98];

  xx[104] = - xx[79];

  xx[105] = - xx[50];

  xx[106] = - xx[97];

  xx[107] = xx[112];

  xx[108] = xx[113];

  xx[109] = state[74];

  pm_math_cross3(xx + 107, xx + 56, xx + 110);

  pm_math_quatXform(xx + 103, xx + 110, xx + 107);

  pm_math_quatXform(xx + 103, xx + 56, xx + 110);

  xx[50] = xx[107] - xx[111] * state[67];

  xx[79] = xx[108] + xx[110] * state[67];

  xx[97] = xx[79] * xx[87] + xx[80] * xx[50];

  xx[98] = xx[61] * xx[87] + xx[89] * xx[80];

  xx[103] = xx[87] * xx[111] + xx[110] * xx[80];

  xx[104] = (xx[61] - xx[51] * xx[102] * xx[80]) * state[67] + xx[50] - xx[51] *

    xx[97] * xx[80] + (xx[111] + xx[51] * xx[98] * xx[87] - xx[51] * xx[103] *

                       xx[87] - xx[61]) * state[65];

  xx[105] = xx[79] - xx[51] * xx[97] * xx[87] - (xx[89] + xx[51] * xx[102] * xx

    [87]) * state[67] - (xx[110] + xx[51] * xx[98] * xx[80] - xx[51] * xx[103] *

    xx[80] + 0.03194045366071555) * state[65];

  xx[106] = xx[109] - (xx[87] * xx[87] * xx[109] + xx[109] * xx[80] * xx[80]) *

    xx[51];

  pm_math_quatXform(xx + 93, xx + 104, xx + 107);

  xx[50] = (xx[34] - (xx[10] * xx[40] + xx[8] * xx[39]) * xx[51]) * state[24];

  xx[8] = xx[51] * (xx[39] * xx[2] + xx[40] * xx[9]) * state[24];

  xx[2] = xx[1] * state[45];

  xx[9] = sin(xx[2]);

  xx[10] = xx[31] * xx[9];

  xx[39] = cos(xx[2]);

  xx[2] = xx[31] * xx[39];

  xx[31] = xx[10] - xx[2];

  xx[40] = xx[25] * xx[39];

  xx[39] = xx[25] * xx[9];

  xx[9] = xx[40] + xx[39];

  xx[25] = - xx[9];

  xx[61] = xx[39] - xx[40];

  xx[39] = xx[10] + xx[2];

  xx[2] = - xx[39];

  xx[93] = xx[31];

  xx[94] = xx[25];

  xx[95] = xx[61];

  xx[96] = xx[2];

  pm_math_quatCompose(xx + 74, xx + 93, xx + 102);

  pm_math_quatCompose(xx + 20, xx + 102, xx + 110);

  pm_math_quatCompose(xx + 15, xx + 110, xx + 117);

  xx[10] = xx[119] * xx[28] - xx[29] * xx[118];

  xx[40] = xx[120] * xx[28] - xx[29] * xx[117];

  xx[79] = xx[117] * xx[28] + xx[29] * xx[120];

  xx[80] = xx[29] * xx[119] + xx[118] * xx[28];

  xx[121] = - xx[10];

  xx[122] = xx[40];

  xx[123] = xx[79];

  xx[124] = - xx[80];

  pm_math_quatCompose(xx + 11, xx + 121, xx + 125);

  xx[87] = xx[79] * state[24];

  xx[89] = xx[40] * state[24];

  xx[97] = xx[118] * state[26];

  xx[98] = xx[119] * state[26];

  pm_math_quatInverseXform(xx + 110, xx + 62, xx + 121);

  pm_math_quatInverseXform(xx + 102, xx + 41, xx + 110);

  xx[102] = xx[25];

  xx[103] = xx[61];

  xx[104] = xx[2];

  xx[2] = xx[38] * xx[61];

  xx[25] = xx[39] * xx[37] - xx[9] * xx[38];

  xx[105] = xx[37] * xx[61];

  xx[129] = - xx[2];

  xx[130] = xx[25];

  xx[131] = xx[105];

  pm_math_cross3(xx + 102, xx + 129, xx + 132);

  xx[129] = xx[51] * (xx[87] * xx[10] - xx[80] * xx[89]) + xx[51] * (xx[120] *

    xx[97] - xx[117] * xx[98]) + xx[121] + xx[110] + xx[51] * (xx[132] + xx[2] *

    xx[31]) - xx[37];

  xx[130] = (xx[117] * xx[97] + xx[120] * xx[98]) * xx[51] + xx[122] + xx[111] +

    xx[51] * (xx[133] - xx[31] * xx[25]) - (xx[89] * xx[10] + xx[80] * xx[87]) *

    xx[51];

  xx[131] = state[24] - (xx[89] * xx[40] + xx[79] * xx[87]) * xx[51] + state[26]

    - (xx[118] * xx[97] + xx[119] * xx[98]) * xx[51] + xx[123] + xx[112] + (xx

    [134] - xx[105] * xx[31]) * xx[51] - xx[38] + state[46];

  pm_math_cross3(xx + 129, xx + 44, xx + 110);

  pm_math_quatXform(xx + 125, xx + 110, xx + 117);

  xx[2] = 1.121202762681406e-11;

  xx[10] = xx[39] * xx[2];

  xx[25] = 6.145027516349377e-13;

  xx[40] = xx[39] * xx[25];

  xx[39] = xx[25] * xx[61] - xx[9] * xx[2];

  xx[110] = xx[10];

  xx[111] = xx[40];

  xx[112] = xx[39];

  pm_math_cross3(xx + 102, xx + 110, xx + 120);

  xx[102] = - xx[2];

  xx[103] = - xx[25];

  xx[104] = - 3.999999999522439e-3;

  pm_math_quatXform(xx + 93, xx + 102, xx + 110);

  xx[9] = 0.05221615474387575 - xx[112];

  xx[61] = 0.1412410329922704 - xx[110];

  xx[93] = (xx[51] * (xx[120] + xx[10] * xx[31]) - xx[25]) * state[46] - xx[111]

    * xx[38];

  xx[94] = (xx[2] + (xx[40] * xx[31] + xx[121]) * xx[51]) * state[46] + xx[37] *

    xx[9] - xx[38] * xx[61];

  xx[95] = xx[51] * (xx[31] * xx[39] + xx[122]) * state[46] + xx[111] * xx[37];

  pm_math_quatXform(xx + 74, xx + 93, xx + 96);

  xx[93] = xx[61];

  xx[94] = - xx[111];

  xx[95] = xx[9];

  pm_math_quatXform(xx + 74, xx + 93, xx + 102);

  xx[93] = xx[102] - xx[69];

  xx[94] = xx[103] + xx[36];

  xx[95] = xx[104] - xx[70];

  pm_math_cross3(xx + 41, xx + 93, xx + 102);

  xx[110] = xx[68] + xx[96] + xx[102];

  xx[111] = xx[24] + xx[97] + xx[103];

  xx[112] = xx[98] - xx[26] + xx[104];

  pm_math_quatXform(xx + 20, xx + 110, xx + 96);

  pm_math_quatXform(xx + 20, xx + 93, xx + 102);

  xx[93] = xx[102] + xx[32];

  xx[94] = xx[103] + xx[60];

  xx[95] = xx[104] + xx[81];

  pm_math_cross3(xx + 62, xx + 93, xx + 102);

  xx[110] = xx[71] + xx[96] + xx[102];

  xx[111] = xx[72] + xx[97] + xx[103];

  xx[112] = xx[73] + xx[98] + xx[104];

  pm_math_quatXform(xx + 15, xx + 110, xx + 96);

  pm_math_quatXform(xx + 15, xx + 93, xx + 102);

  xx[2] = xx[103] + xx[86];

  xx[9] = xx[65] + xx[96] - xx[2] * state[26];

  xx[10] = xx[102] + xx[85];

  xx[25] = xx[66] + xx[97] + xx[10] * state[26];

  xx[31] = xx[25] * xx[29] + xx[28] * xx[9];

  xx[39] = xx[2] * xx[29] + xx[10] * xx[28];

  xx[40] = xx[67] + xx[98];

  xx[93] = xx[55] + xx[9] - xx[51] * xx[31] * xx[28] - (xx[2] - xx[51] * xx[39] *

    xx[29] + xx[91]) * state[24];

  xx[94] = xx[49] + xx[25] - xx[51] * xx[31] * xx[29] + (xx[10] - xx[51] * xx[39]

    * xx[28] + xx[48]) * state[24];

  xx[95] = xx[40] - (xx[29] * xx[40] * xx[29] + xx[40] * xx[28] * xx[28]) * xx

    [51];

  pm_math_quatXform(xx + 11, xx + 93, xx + 96);

  xx[2] = xx[1] * state[53];

  xx[9] = cos(xx[2]);

  xx[10] = sin(xx[2]);

  xx[2] = xx[0] * xx[9] + xx[4] * xx[10];

  xx[25] = xx[6] * xx[10] - xx[7] * xx[9];

  xx[31] = xx[6] * xx[9] + xx[7] * xx[10];

  xx[6] = xx[0] * xx[10] - xx[4] * xx[9];

  xx[102] = xx[2];

  xx[103] = xx[25];

  xx[104] = xx[31];

  xx[105] = xx[6];

  xx[0] = xx[5] * state[59] - xx[3] * state[58];

  xx[4] = xx[1] * state[55];

  xx[7] = sin(xx[4]);

  xx[9] = cos(xx[4]);

  xx[4] = xx[3] * state[59] + xx[5] * state[58];

  xx[10] = xx[0] * xx[7] - xx[9] * xx[4];

  xx[39] = xx[3] * state[57] + xx[5] * state[60];

  xx[40] = xx[3] * state[60] - xx[5] * state[57];

  xx[61] = xx[7] * xx[39] + xx[9] * xx[40];

  xx[79] = xx[7] * xx[40] - xx[9] * xx[39];

  xx[80] = xx[0] * xx[9] + xx[7] * xx[4];

  xx[110] = xx[10];

  xx[111] = - xx[61];

  xx[112] = xx[79];

  xx[113] = xx[80];

  pm_math_quatCompose(xx + 102, xx + 110, xx + 120);

  xx[87] = xx[0] * state[56];

  xx[89] = xx[4] * state[56];

  xx[93] = xx[3] * state[61];

  xx[94] = xx[3] * state[62];

  xx[95] = state[61] - (xx[3] * xx[93] - xx[5] * xx[94]) * xx[51];

  xx[106] = xx[61] * state[54];

  xx[110] = xx[79] * state[54];

  xx[111] = state[62] - xx[51] * (xx[5] * xx[93] + xx[3] * xx[94]);

  xx[124] = (xx[87] * xx[40] + xx[89] * xx[39]) * xx[51] + xx[95] - xx[51] *

    (xx[106] * xx[80] + xx[10] * xx[110]);

  xx[125] = (xx[110] * xx[80] - xx[10] * xx[106]) * xx[51] + xx[51] * (xx[87] *

    xx[39] - xx[89] * xx[40]) + xx[111];

  xx[126] = state[54] - (xx[106] * xx[61] + xx[79] * xx[110]) * xx[51] + state

    [56] - (xx[89] * xx[4] + xx[0] * xx[87]) * xx[51] + state[63];

  pm_math_cross3(xx + 124, xx + 99, xx + 127);

  pm_math_quatXform(xx + 120, xx + 127, xx + 124);

  xx[10] = 0.02520954632904374;

  xx[61] = xx[25] * xx[10];

  xx[79] = xx[6] * xx[10];

  xx[80] = 5.443558296964576e-12;

  xx[87] = 9.27756931389703e-12;

  xx[89] = xx[87] * xx[9] + xx[80] * xx[7];

  xx[120] = xx[40];

  xx[121] = - xx[4];

  xx[122] = - xx[0];

  xx[123] = - xx[39];

  xx[127] = xx[95];

  xx[128] = xx[111];

  xx[129] = state[63];

  pm_math_cross3(xx + 127, xx + 56, xx + 93);

  pm_math_quatXform(xx + 120, xx + 93, xx + 110);

  pm_math_quatXform(xx + 120, xx + 56, xx + 93);

  xx[0] = xx[110] - xx[94] * state[56];

  xx[4] = xx[111] + xx[93] * state[56];

  xx[39] = xx[4] * xx[9] + xx[7] * xx[0];

  xx[40] = xx[80] * xx[9] - xx[87] * xx[7];

  xx[95] = xx[9] * xx[94] + xx[93] * xx[7];

  xx[120] = (xx[80] - xx[51] * xx[89] * xx[7]) * state[56] + xx[0] - xx[51] *

    xx[39] * xx[7] - (xx[94] + xx[51] * xx[40] * xx[9] - xx[51] * xx[95] * xx[9]

                      - xx[80]) * state[54];

  xx[121] = (xx[87] - xx[51] * xx[89] * xx[9]) * state[56] + xx[4] - xx[51] *

    xx[39] * xx[9] + (xx[93] + xx[51] * xx[40] * xx[7] - xx[51] * xx[95] * xx[7]

                      + 0.03194045368023388) * state[54];

  xx[122] = xx[112] - (xx[9] * xx[9] * xx[112] + xx[112] * xx[7] * xx[7]) * xx

    [51];

  pm_math_quatXform(xx + 102, xx + 120, xx + 93);

  xx[0] = 0.3535533905932758;

  xx[4] = xx[1] * state[47];

  xx[7] = cos(xx[4]);

  xx[9] = xx[0] * xx[7];

  xx[39] = sin(xx[4]);

  xx[4] = xx[0] * xx[39];

  xx[40] = xx[9] + xx[4];

  xx[80] = 0.6123724356957934;

  xx[87] = xx[80] * xx[39];

  xx[39] = xx[80] * xx[7];

  xx[7] = xx[87] - xx[39];

  xx[89] = xx[39] + xx[87];

  xx[39] = - xx[89];

  xx[87] = xx[4] - xx[9];

  xx[102] = - xx[40];

  xx[103] = xx[7];

  xx[104] = xx[39];

  xx[105] = xx[87];

  pm_math_quatCompose(xx + 74, xx + 102, xx + 110);

  pm_math_quatCompose(xx + 20, xx + 110, xx + 120);

  pm_math_quatCompose(xx + 15, xx + 120, xx + 127);

  xx[4] = xx[129] * xx[28] - xx[29] * xx[128];

  xx[9] = xx[130] * xx[28] - xx[29] * xx[127];

  xx[106] = xx[127] * xx[28] + xx[29] * xx[130];

  xx[131] = xx[29] * xx[129] + xx[128] * xx[28];

  xx[132] = - xx[4];

  xx[133] = xx[9];

  xx[134] = xx[106];

  xx[135] = - xx[131];

  pm_math_quatCompose(xx + 11, xx + 132, xx + 136);

  xx[132] = xx[106] * state[24];

  xx[133] = xx[9] * state[24];

  xx[134] = xx[128] * state[26];

  xx[135] = xx[129] * state[26];

  pm_math_quatInverseXform(xx + 120, xx + 62, xx + 140);

  pm_math_quatInverseXform(xx + 110, xx + 41, xx + 120);

  xx[110] = xx[7];

  xx[111] = xx[39];

  xx[112] = xx[87];

  xx[39] = xx[89] * xx[38];

  xx[113] = xx[38] * xx[7] - xx[37] * xx[87];

  xx[123] = xx[89] * xx[37];

  xx[143] = xx[39];

  xx[144] = xx[113];

  xx[145] = - xx[123];

  pm_math_cross3(xx + 110, xx + 143, xx + 146);

  xx[143] = xx[51] * (xx[132] * xx[4] - xx[131] * xx[133]) + xx[51] * (xx[130] *

    xx[134] - xx[127] * xx[135]) + xx[140] + xx[120] + xx[51] * (xx[146] + xx[40]

    * xx[39]) - xx[37];

  xx[144] = (xx[127] * xx[134] + xx[130] * xx[135]) * xx[51] + xx[141] + xx[121]

    + xx[51] * (xx[147] + xx[40] * xx[113]) - (xx[133] * xx[4] + xx[131] * xx

    [132]) * xx[51];

  xx[145] = state[24] - (xx[133] * xx[9] + xx[106] * xx[132]) * xx[51] + state

    [26] - (xx[128] * xx[134] + xx[129] * xx[135]) * xx[51] + xx[142] + xx[122]

    + (xx[148] - xx[40] * xx[123]) * xx[51] - xx[38] - state[48];

  pm_math_cross3(xx + 143, xx + 44, xx + 120);

  pm_math_quatXform(xx + 136, xx + 120, xx + 127);

  xx[4] = 3.80025733104361e-12;

  xx[9] = 3.881762117297072e-12;

  xx[39] = xx[9] * xx[87];

  xx[106] = xx[4] * xx[87];

  xx[87] = xx[9] * xx[7] + xx[89] * xx[4];

  xx[120] = - xx[39];

  xx[121] = xx[106];

  xx[122] = xx[87];

  pm_math_cross3(xx + 110, xx + 120, xx + 130);

  xx[110] = xx[9];

  xx[111] = - xx[4];

  xx[112] = 3.999999998874377e-3;

  pm_math_quatXform(xx + 102, xx + 110, xx + 120);

  xx[7] = 0.1412410329922711 + xx[120];

  xx[89] = 0.05221615474387407 - xx[122];

  xx[102] = (xx[4] + xx[51] * (xx[130] + xx[40] * xx[39])) * state[48] - xx[121]

    * xx[38];

  xx[103] = (xx[9] + (xx[131] - xx[40] * xx[106]) * xx[51]) * state[48] + xx[38]

    * xx[7] + xx[37] * xx[89];

  xx[104] = xx[51] * (xx[132] - xx[40] * xx[87]) * state[48] + xx[121] * xx[37];

  pm_math_quatXform(xx + 74, xx + 102, xx + 110);

  xx[102] = - xx[7];

  xx[103] = - xx[121];

  xx[104] = xx[89];

  pm_math_quatXform(xx + 74, xx + 102, xx + 120);

  xx[102] = xx[120] - xx[69];

  xx[103] = xx[121] + xx[36];

  xx[104] = xx[122] - xx[70];

  pm_math_cross3(xx + 41, xx + 102, xx + 120);

  xx[130] = xx[68] + xx[110] + xx[120];

  xx[131] = xx[24] + xx[111] + xx[121];

  xx[132] = xx[112] - xx[26] + xx[122];

  pm_math_quatXform(xx + 20, xx + 130, xx + 110);

  pm_math_quatXform(xx + 20, xx + 102, xx + 120);

  xx[102] = xx[120] + xx[32];

  xx[103] = xx[121] + xx[60];

  xx[104] = xx[122] + xx[81];

  pm_math_cross3(xx + 62, xx + 102, xx + 120);

  xx[130] = xx[71] + xx[110] + xx[120];

  xx[131] = xx[72] + xx[111] + xx[121];

  xx[132] = xx[73] + xx[112] + xx[122];

  pm_math_quatXform(xx + 15, xx + 130, xx + 110);

  pm_math_quatXform(xx + 15, xx + 102, xx + 120);

  xx[4] = xx[121] + xx[86];

  xx[7] = xx[65] + xx[110] - xx[4] * state[26];

  xx[9] = xx[120] + xx[85];

  xx[39] = xx[66] + xx[111] + xx[9] * state[26];

  xx[40] = xx[39] * xx[29] + xx[28] * xx[7];

  xx[87] = xx[4] * xx[29] + xx[9] * xx[28];

  xx[89] = xx[67] + xx[112];

  xx[102] = xx[55] + xx[7] - xx[51] * xx[40] * xx[28] - (xx[4] - xx[51] * xx[87]

    * xx[29] + xx[91]) * state[24];

  xx[103] = xx[49] + xx[39] - xx[51] * xx[40] * xx[29] + (xx[9] - xx[51] * xx[87]

    * xx[28] + xx[48]) * state[24];

  xx[104] = xx[89] - (xx[29] * xx[89] * xx[29] + xx[89] * xx[28] * xx[28]) * xx

    [51];

  pm_math_quatXform(xx + 11, xx + 102, xx + 110);

  xx[4] = 0.3162553791961485;

  xx[7] = xx[1] * state[75];

  xx[9] = cos(xx[7]);

  xx[39] = 0.3162538200043588;

  xx[40] = sin(xx[7]);

  xx[7] = xx[4] * xx[9] - xx[39] * xx[40];

  xx[87] = 0.6324445710612965;

  xx[89] = 0.6324396579890005;

  xx[102] = xx[87] * xx[9] + xx[89] * xx[40];

  xx[103] = xx[87] * xx[40] - xx[89] * xx[9];

  xx[87] = xx[39] * xx[9] + xx[4] * xx[40];

  xx[120] = xx[7];

  xx[121] = xx[102];

  xx[122] = xx[103];

  xx[123] = - xx[87];

  xx[4] = xx[5] * state[81] - xx[3] * state[80];

  xx[9] = xx[1] * state[77];

  xx[39] = sin(xx[9]);

  xx[40] = cos(xx[9]);

  xx[9] = xx[3] * state[81] + xx[5] * state[80];

  xx[89] = xx[4] * xx[39] - xx[40] * xx[9];

  xx[104] = xx[3] * state[79] + xx[5] * state[82];

  xx[105] = xx[3] * state[82] - xx[5] * state[79];

  xx[106] = xx[39] * xx[104] + xx[40] * xx[105];

  xx[113] = xx[39] * xx[105] - xx[40] * xx[104];

  xx[130] = xx[4] * xx[40] + xx[39] * xx[9];

  xx[131] = xx[89];

  xx[132] = - xx[106];

  xx[133] = xx[113];

  xx[134] = xx[130];

  pm_math_quatCompose(xx + 120, xx + 131, xx + 135);

  xx[131] = xx[113] * state[76];

  xx[132] = xx[106] * state[76];

  xx[133] = xx[4] * state[78];

  xx[134] = xx[9] * state[78];

  xx[139] = xx[3] * state[83];

  xx[140] = xx[3] * state[84];

  xx[141] = state[83] - (xx[3] * xx[139] - xx[5] * xx[140]) * xx[51];

  xx[142] = state[84] - xx[51] * (xx[5] * xx[139] + xx[3] * xx[140]);

  xx[143] = xx[51] * (xx[89] * xx[131] + xx[132] * xx[130]) + (xx[133] * xx[105]

    + xx[134] * xx[104]) * xx[51] + xx[141];

  xx[144] = xx[51] * (xx[133] * xx[104] - xx[134] * xx[105]) + xx[142] - (xx[131]

    * xx[130] - xx[89] * xx[132]) * xx[51];

  xx[145] = (xx[132] * xx[106] + xx[113] * xx[131]) * xx[51] - state[76] +

    state[78] - (xx[134] * xx[9] + xx[4] * xx[133]) * xx[51] + state[85];

  pm_math_cross3(xx + 143, xx + 99, xx + 130);

  pm_math_quatXform(xx + 135, xx + 130, xx + 143);

  xx[89] = 5.157931604049537e-12;

  xx[106] = 9.862118968695376e-13;

  xx[113] = xx[89] * xx[40] + xx[106] * xx[39];

  xx[130] = xx[105];

  xx[131] = - xx[9];

  xx[132] = - xx[4];

  xx[133] = - xx[104];

  xx[134] = xx[141];

  xx[135] = xx[142];

  xx[136] = state[85];

  pm_math_cross3(xx + 134, xx + 56, xx + 137);

  pm_math_quatXform(xx + 130, xx + 137, xx + 134);

  pm_math_quatXform(xx + 130, xx + 56, xx + 137);

  xx[4] = xx[134] - xx[138] * state[78];

  xx[9] = xx[135] + xx[137] * state[78];

  xx[104] = xx[9] * xx[40] + xx[39] * xx[4];

  xx[105] = xx[89] * xx[39] - xx[106] * xx[40];

  xx[130] = xx[40] * xx[138] + xx[137] * xx[39];

  xx[131] = (xx[51] * xx[113] * xx[39] - xx[106]) * state[78] + xx[4] - xx[51] *

    xx[104] * xx[39] + (xx[138] + xx[51] * xx[105] * xx[40] - xx[51] * xx[130] *

                        xx[40] + xx[106]) * state[76];

  xx[132] = (xx[51] * xx[113] * xx[40] - xx[89]) * state[78] + xx[9] - xx[51] *

    xx[104] * xx[40] - (xx[137] + xx[51] * xx[105] * xx[39] - xx[51] * xx[130] *

                        xx[39] + 0.03194045366579833) * state[76];

  xx[133] = xx[136] - (xx[40] * xx[40] * xx[136] + xx[136] * xx[39] * xx[39]) *

    xx[51];

  pm_math_quatXform(xx + 120, xx + 131, xx + 104);

  xx[4] = xx[34] * xx[102];

  xx[9] = xx[34] * xx[87];

  xx[39] = xx[1] * state[49];

  xx[40] = cos(xx[39]);

  xx[89] = xx[0] * xx[40];

  xx[113] = sin(xx[39]);

  xx[39] = xx[0] * xx[113];

  xx[0] = xx[89] + xx[39];

  xx[120] = xx[80] * xx[40];

  xx[40] = xx[80] * xx[113];

  xx[80] = xx[120] - xx[40];

  xx[113] = xx[120] + xx[40];

  xx[40] = xx[89] - xx[39];

  xx[120] = xx[0];

  xx[121] = xx[80];

  xx[122] = xx[113];

  xx[123] = xx[40];

  pm_math_quatCompose(xx + 74, xx + 120, xx + 130);

  pm_math_quatCompose(xx + 20, xx + 130, xx + 134);

  pm_math_quatCompose(xx + 15, xx + 134, xx + 138);

  xx[39] = xx[140] * xx[28] - xx[29] * xx[139];

  xx[89] = xx[141] * xx[28] - xx[29] * xx[138];

  xx[142] = xx[138] * xx[28] + xx[29] * xx[141];

  xx[146] = xx[29] * xx[140] + xx[139] * xx[28];

  xx[147] = - xx[39];

  xx[148] = xx[89];

  xx[149] = xx[142];

  xx[150] = - xx[146];

  pm_math_quatCompose(xx + 11, xx + 147, xx + 151);

  xx[147] = xx[142] * state[24];

  xx[148] = xx[89] * state[24];

  xx[149] = xx[139] * state[26];

  xx[150] = xx[140] * state[26];

  pm_math_quatInverseXform(xx + 134, xx + 62, xx + 155);

  pm_math_quatInverseXform(xx + 130, xx + 41, xx + 134);

  xx[130] = xx[80];

  xx[131] = xx[113];

  xx[132] = xx[40];

  xx[133] = xx[113] * xx[38];

  xx[137] = xx[38] * xx[80] - xx[37] * xx[40];

  xx[158] = xx[113] * xx[37];

  xx[159] = - xx[133];

  xx[160] = xx[137];

  xx[161] = xx[158];

  pm_math_cross3(xx + 130, xx + 159, xx + 162);

  xx[159] = xx[51] * (xx[147] * xx[39] - xx[146] * xx[148]) + xx[51] * (xx[141] *

    xx[149] - xx[138] * xx[150]) + xx[155] + xx[134] + xx[51] * (xx[162] + xx[0]

    * xx[133]) - xx[37];

  xx[160] = (xx[138] * xx[149] + xx[141] * xx[150]) * xx[51] + xx[156] + xx[135]

    + xx[51] * (xx[163] - xx[0] * xx[137]) - (xx[148] * xx[39] + xx[146] * xx

    [147]) * xx[51];

  xx[161] = state[24] - (xx[148] * xx[89] + xx[142] * xx[147]) * xx[51] + state

    [26] - (xx[139] * xx[149] + xx[140] * xx[150]) * xx[51] + xx[157] + xx[136]

    + (xx[164] - xx[0] * xx[158]) * xx[51] - xx[38] - state[50];

  pm_math_cross3(xx + 159, xx + 44, xx + 133);

  pm_math_quatXform(xx + 151, xx + 133, xx + 136);

  xx[39] = 6.30935626036444e-12;

  xx[89] = 5.998698970888227e-12;

  xx[133] = xx[89] * xx[40];

  xx[134] = xx[39] * xx[40];

  xx[40] = xx[89] * xx[80] + xx[113] * xx[39];

  xx[139] = xx[133];

  xx[140] = xx[134];

  xx[141] = - xx[40];

  pm_math_cross3(xx + 130, xx + 139, xx + 146);

  xx[130] = - xx[89];

  xx[131] = - xx[39];

  xx[132] = 4.000000001735564e-3;

  pm_math_quatXform(xx + 120, xx + 130, xx + 139);

  xx[80] = 0.1158410329922713 + xx[139];

  xx[113] = 0.09621024525612379 - xx[141];

  xx[120] = (xx[39] + xx[51] * (xx[146] + xx[0] * xx[133])) * state[50] - xx[140]

    * xx[38];

  xx[121] = ((xx[0] * xx[134] + xx[147]) * xx[51] - xx[89]) * state[50] + xx[38]

    * xx[80] + xx[37] * xx[113];

  xx[122] = xx[51] * (xx[148] - xx[0] * xx[40]) * state[50] + xx[140] * xx[37];

  pm_math_quatXform(xx + 74, xx + 120, xx + 130);

  xx[120] = - xx[80];

  xx[121] = - xx[140];

  xx[122] = xx[113];

  pm_math_quatXform(xx + 74, xx + 120, xx + 133);

  xx[120] = xx[133] - xx[69];

  xx[121] = xx[134] + xx[36];

  xx[122] = xx[135] - xx[70];

  pm_math_cross3(xx + 41, xx + 120, xx + 133);

  xx[139] = xx[68] + xx[130] + xx[133];

  xx[140] = xx[24] + xx[131] + xx[134];

  xx[141] = xx[132] - xx[26] + xx[135];

  pm_math_quatXform(xx + 20, xx + 139, xx + 130);

  pm_math_quatXform(xx + 20, xx + 120, xx + 133);

  xx[120] = xx[133] + xx[32];

  xx[121] = xx[134] + xx[60];

  xx[122] = xx[135] + xx[81];

  pm_math_cross3(xx + 62, xx + 120, xx + 133);

  xx[139] = xx[71] + xx[130] + xx[133];

  xx[140] = xx[72] + xx[131] + xx[134];

  xx[141] = xx[73] + xx[132] + xx[135];

  pm_math_quatXform(xx + 15, xx + 139, xx + 130);

  pm_math_quatXform(xx + 15, xx + 120, xx + 133);

  xx[0] = xx[134] + xx[86];

  xx[39] = xx[65] + xx[130] - xx[0] * state[26];

  xx[40] = xx[133] + xx[85];

  xx[80] = xx[66] + xx[131] + xx[40] * state[26];

  xx[89] = xx[80] * xx[29] + xx[28] * xx[39];

  xx[113] = xx[0] * xx[29] + xx[40] * xx[28];

  xx[120] = xx[67] + xx[132];

  xx[121] = xx[55] + xx[39] - xx[51] * xx[89] * xx[28] - (xx[0] - xx[51] * xx

    [113] * xx[29] + xx[91]) * state[24];

  xx[122] = xx[49] + xx[80] - xx[51] * xx[89] * xx[29] + (xx[40] - xx[51] * xx

    [113] * xx[28] + xx[48]) * state[24];

  xx[123] = xx[120] - (xx[29] * xx[120] * xx[29] + xx[120] * xx[28] * xx[28]) *

    xx[51];

  pm_math_quatXform(xx + 11, xx + 121, xx + 130);

  xx[0] = 0.3162538200043575;

  xx[39] = xx[1] * state[86];

  xx[40] = sin(xx[39]);

  xx[80] = 0.3162553791961478;

  xx[89] = cos(xx[39]);

  xx[39] = xx[0] * xx[40] - xx[80] * xx[89];

  xx[113] = 0.6324445710612973;

  xx[120] = 0.6324396579890008;

  xx[121] = xx[113] * xx[89] + xx[120] * xx[40];

  xx[122] = xx[120] * xx[89] - xx[113] * xx[40];

  xx[113] = xx[0] * xx[89] + xx[80] * xx[40];

  xx[139] = xx[39];

  xx[140] = - xx[121];

  xx[141] = xx[122];

  xx[142] = xx[113];

  xx[0] = xx[5] * state[92] - xx[3] * state[91];

  xx[40] = xx[1] * state[88];

  xx[80] = sin(xx[40]);

  xx[89] = cos(xx[40]);

  xx[40] = xx[3] * state[92] + xx[5] * state[91];

  xx[120] = xx[0] * xx[80] - xx[89] * xx[40];

  xx[123] = xx[3] * state[90] + xx[5] * state[93];

  xx[133] = xx[3] * state[93] - xx[5] * state[90];

  xx[134] = xx[80] * xx[123] + xx[89] * xx[133];

  xx[135] = xx[80] * xx[133] - xx[89] * xx[123];

  xx[146] = xx[0] * xx[89] + xx[80] * xx[40];

  xx[147] = xx[120];

  xx[148] = - xx[134];

  xx[149] = xx[135];

  xx[150] = xx[146];

  pm_math_quatCompose(xx + 139, xx + 147, xx + 151);

  xx[147] = xx[135] * state[87];

  xx[148] = xx[134] * state[87];

  xx[149] = xx[0] * state[89];

  xx[150] = xx[40] * state[89];

  xx[155] = xx[3] * state[94];

  xx[156] = xx[3] * state[95];

  xx[157] = state[94] - (xx[3] * xx[155] - xx[5] * xx[156]) * xx[51];

  xx[158] = state[95] - xx[51] * (xx[5] * xx[155] + xx[3] * xx[156]);

  xx[159] = xx[51] * (xx[120] * xx[147] + xx[148] * xx[146]) + (xx[149] * xx[133]

    + xx[150] * xx[123]) * xx[51] + xx[157];

  xx[160] = xx[51] * (xx[149] * xx[123] - xx[150] * xx[133]) + xx[158] - (xx[147]

    * xx[146] - xx[120] * xx[148]) * xx[51];

  xx[161] = (xx[148] * xx[134] + xx[135] * xx[147]) * xx[51] - state[87] +

    state[89] - (xx[150] * xx[40] + xx[0] * xx[149]) * xx[51] + state[96];

  pm_math_cross3(xx + 159, xx + 99, xx + 146);

  pm_math_quatXform(xx + 151, xx + 146, xx + 159);

  xx[120] = xx[34] * xx[121];

  xx[134] = xx[34] * xx[113];

  xx[135] = 1.600627075326599e-13;

  xx[146] = 8.497959654019115e-12;

  xx[147] = xx[135] * xx[89] + xx[146] * xx[80];

  xx[148] = xx[133];

  xx[149] = - xx[40];

  xx[150] = - xx[0];

  xx[151] = - xx[123];

  xx[152] = xx[157];

  xx[153] = xx[158];

  xx[154] = state[96];

  pm_math_cross3(xx + 152, xx + 56, xx + 155);

  pm_math_quatXform(xx + 148, xx + 155, xx + 152);

  pm_math_quatXform(xx + 148, xx + 56, xx + 155);

  xx[0] = xx[152] - xx[156] * state[89];

  xx[40] = xx[153] + xx[155] * state[89];

  xx[123] = xx[40] * xx[89] + xx[80] * xx[0];

  xx[133] = xx[135] * xx[80] - xx[146] * xx[89];

  xx[148] = xx[89] * xx[156] + xx[155] * xx[80];

  xx[149] = (xx[51] * xx[147] * xx[80] - xx[146]) * state[89] + xx[0] - xx[51] *

    xx[123] * xx[80] + (xx[156] + xx[51] * xx[133] * xx[89] - xx[51] * xx[148] *

                        xx[89] + xx[146]) * state[87];

  xx[150] = (xx[51] * xx[147] * xx[89] - xx[135]) * state[89] + xx[40] - xx[51] *

    xx[123] * xx[89] - (xx[155] + xx[51] * xx[133] * xx[80] - xx[51] * xx[148] *

                        xx[80] + 0.03194045367079622) * state[87];

  xx[151] = xx[154] - (xx[89] * xx[89] * xx[154] + xx[154] * xx[80] * xx[80]) *

    xx[51];

  pm_math_quatXform(xx + 139, xx + 149, xx + 146);

  xx[0] = xx[1] * state[51];

  xx[40] = cos(xx[0]);

  xx[80] = sin(xx[0]);

  xx[139] = xx[40] * xx[35] + xx[80] * xx[19];

  xx[140] = xx[30] * xx[40] - xx[80] * xx[33];

  xx[141] = xx[40] * xx[33] + xx[30] * xx[80];

  xx[142] = xx[40] * xx[19] - xx[80] * xx[35];

  pm_math_quatCompose(xx + 20, xx + 139, xx + 149);

  pm_math_quatCompose(xx + 15, xx + 149, xx + 153);

  xx[0] = xx[155] * xx[28] - xx[29] * xx[154];

  xx[19] = xx[156] * xx[28] - xx[29] * xx[153];

  xx[30] = xx[153] * xx[28] + xx[29] * xx[156];

  xx[33] = xx[29] * xx[155] + xx[154] * xx[28];

  xx[162] = - xx[0];

  xx[163] = xx[19];

  xx[164] = xx[30];

  xx[165] = - xx[33];

  pm_math_quatCompose(xx + 11, xx + 162, xx + 166);

  xx[35] = xx[30] * state[24];

  xx[89] = xx[19] * state[24];

  xx[123] = xx[154] * state[26];

  xx[133] = xx[155] * state[26];

  pm_math_quatInverseXform(xx + 149, xx + 62, xx + 162);

  pm_math_quatInverseXform(xx + 139, xx + 41, xx + 149);

  xx[135] = xx[37] * xx[80];

  xx[139] = xx[51] * (xx[35] * xx[0] - xx[33] * xx[89]) + xx[51] * (xx[156] *

    xx[123] - xx[153] * xx[133]) + xx[162] + xx[149] + xx[51] * xx[135] * xx[80]

    - xx[37];

  xx[140] = (xx[153] * xx[123] + xx[156] * xx[133]) * xx[51] + xx[163] + xx[150]

    - xx[51] * xx[40] * xx[135] - (xx[89] * xx[0] + xx[33] * xx[35]) * xx[51];

  xx[141] = state[24] - (xx[89] * xx[19] + xx[30] * xx[35]) * xx[51] + state[26]

    - (xx[154] * xx[123] + xx[155] * xx[133]) * xx[51] + xx[164] + xx[151] -

    (xx[38] + state[52]);

  pm_math_cross3(xx + 139, xx + 44, xx + 149);

  pm_math_quatXform(xx + 166, xx + 149, xx + 44);

  xx[0] = 5.61723311615081e-12;

  xx[19] = 6.817225262079063e-12;

  xx[30] = xx[19] * xx[80];

  xx[33] = xx[40] * xx[30];

  xx[35] = xx[0] * xx[80];

  xx[89] = xx[35] * xx[80];

  xx[123] = (xx[33] + xx[89]) * xx[51] - xx[0];

  xx[133] = xx[40] * xx[35];

  xx[35] = xx[30] * xx[80];

  xx[30] = 0.02540000000000185 - (xx[51] * (xx[35] - xx[133]) - xx[19]);

  xx[40] = 0.152426400001803;

  xx[139] = (xx[0] - xx[51] * (xx[33] + xx[89])) * state[52] - xx[38] * xx[123];

  xx[140] = - ((xx[19] + (xx[133] - xx[35]) * xx[51]) * state[52] + xx[38] * xx

               [30] + xx[40] * xx[37]);

  xx[141] = xx[37] * xx[123];

  pm_math_quatXform(xx + 74, xx + 139, xx + 149);

  xx[139] = xx[30];

  xx[140] = - xx[123];

  xx[141] = - xx[40];

  pm_math_quatXform(xx + 74, xx + 139, xx + 152);

  xx[74] = xx[152] - xx[69];

  xx[75] = xx[153] + xx[36];

  xx[76] = xx[154] - xx[70];

  pm_math_cross3(xx + 41, xx + 74, xx + 35);

  xx[40] = xx[68] + xx[149] + xx[35];

  xx[41] = xx[24] + xx[150] + xx[36];

  xx[42] = xx[151] - xx[26] + xx[37];

  pm_math_quatXform(xx + 20, xx + 40, xx + 35);

  pm_math_quatXform(xx + 20, xx + 74, xx + 40);

  xx[19] = xx[40] + xx[32];

  xx[20] = xx[41] + xx[60];

  xx[21] = xx[42] + xx[81];

  pm_math_cross3(xx + 62, xx + 19, xx + 22);

  xx[40] = xx[71] + xx[35] + xx[22];

  xx[41] = xx[72] + xx[36] + xx[23];

  xx[42] = xx[73] + xx[37] + xx[24];

  pm_math_quatXform(xx + 15, xx + 40, xx + 22);

  pm_math_quatXform(xx + 15, xx + 19, xx + 35);

  xx[0] = xx[36] + xx[86];

  xx[15] = xx[65] + xx[22] - xx[0] * state[26];

  xx[16] = xx[35] + xx[85];

  xx[17] = xx[66] + xx[23] + xx[16] * state[26];

  xx[18] = xx[17] * xx[29] + xx[28] * xx[15];

  xx[19] = xx[0] * xx[29] + xx[16] * xx[28];

  xx[20] = xx[67] + xx[24];

  xx[21] = xx[55] + xx[15] - xx[51] * xx[18] * xx[28] - (xx[0] - xx[51] * xx[19]

    * xx[29] + xx[91]) * state[24];

  xx[22] = xx[49] + xx[17] - xx[51] * xx[18] * xx[29] + (xx[16] - xx[51] * xx[19]

    * xx[28] + xx[48]) * state[24];

  xx[23] = xx[20] - (xx[29] * xx[20] * xx[29] + xx[20] * xx[28] * xx[28]) * xx

    [51];

  pm_math_quatXform(xx + 11, xx + 21, xx + 15);

  xx[0] = 0.3895853754265615;

  xx[11] = xx[1] * state[12];

  xx[12] = cos(xx[11]);

  xx[13] = 0.389581900177037;

  xx[14] = sin(xx[11]);

  xx[11] = xx[0] * xx[12] - xx[13] * xx[14];

  xx[18] = 0.5901074779979933;

  xx[19] = 0.5901036711621462;

  xx[20] = xx[18] * xx[12] + xx[19] * xx[14];

  xx[21] = xx[19] * xx[12] - xx[18] * xx[14];

  xx[18] = xx[13] * xx[12] + xx[0] * xx[14];

  xx[35] = xx[11];

  xx[36] = - xx[20];

  xx[37] = xx[21];

  xx[38] = - xx[18];

  xx[0] = xx[5] * state[18] - xx[3] * state[17];

  xx[12] = xx[1] * state[14];

  xx[1] = sin(xx[12]);

  xx[13] = cos(xx[12]);

  xx[12] = xx[3] * state[18] + xx[5] * state[17];

  xx[14] = xx[0] * xx[1] - xx[13] * xx[12];

  xx[19] = xx[3] * state[16] + xx[5] * state[19];

  xx[22] = xx[3] * state[19] - xx[5] * state[16];

  xx[23] = xx[1] * xx[19] + xx[13] * xx[22];

  xx[24] = xx[1] * xx[22] - xx[13] * xx[19];

  xx[26] = xx[0] * xx[13] + xx[1] * xx[12];

  xx[40] = xx[14];

  xx[41] = - xx[23];

  xx[42] = xx[24];

  xx[43] = xx[26];

  pm_math_quatCompose(xx + 35, xx + 40, xx + 62);

  xx[28] = xx[24] * state[13];

  xx[29] = xx[23] * state[13];

  xx[30] = xx[0] * state[15];

  xx[32] = xx[12] * state[15];

  xx[33] = xx[3] * state[20];

  xx[40] = xx[3] * state[21];

  xx[41] = state[20] - (xx[3] * xx[33] - xx[5] * xx[40]) * xx[51];

  xx[42] = state[21] - xx[51] * (xx[5] * xx[33] + xx[3] * xx[40]);

  xx[66] = xx[51] * (xx[14] * xx[28] + xx[29] * xx[26]) + (xx[30] * xx[22] + xx

    [32] * xx[19]) * xx[51] + xx[41];

  xx[67] = xx[51] * (xx[30] * xx[19] - xx[32] * xx[22]) + xx[42] - (xx[28] * xx

    [26] - xx[14] * xx[29]) * xx[51];

  xx[68] = (xx[29] * xx[23] + xx[24] * xx[28]) * xx[51] - state[13] + state[15]

    - (xx[32] * xx[12] + xx[0] * xx[30]) * xx[51] + state[22];

  pm_math_cross3(xx + 66, xx + 99, xx + 28);

  pm_math_quatXform(xx + 62, xx + 28, xx + 66);

  xx[3] = xx[34] * xx[20];

  xx[5] = xx[34] * xx[18];

  xx[62] = xx[22];

  xx[63] = - xx[12];

  xx[64] = - xx[0];

  xx[65] = - xx[19];

  xx[22] = xx[41];

  xx[23] = xx[42];

  xx[24] = state[22];

  pm_math_cross3(xx + 22, xx + 56, xx + 28);

  pm_math_quatXform(xx + 62, xx + 28, xx + 22);

  pm_math_quatXform(xx + 62, xx + 56, xx + 28);

  xx[0] = xx[22] - xx[29] * state[15];

  xx[12] = xx[23] + xx[28] * state[15];

  xx[14] = xx[12] * xx[13] + xx[1] * xx[0];

  xx[19] = 5.376764528053357e-12;

  xx[26] = 7.748428954013064e-12;

  xx[30] = xx[26] * xx[13] - xx[19] * xx[1];

  xx[32] = xx[19] * xx[13] + xx[26] * xx[1];

  xx[33] = xx[13] * xx[29] + xx[28] * xx[1];

  xx[40] = xx[0] - xx[51] * xx[14] * xx[1] - (xx[19] + xx[51] * xx[30] * xx[1]) *

    state[15] + (xx[29] - xx[51] * xx[32] * xx[13] - xx[51] * xx[33] * xx[13] +

                 xx[19]) * state[13];

  xx[41] = (xx[26] - xx[51] * xx[30] * xx[13]) * state[15] + xx[12] - xx[51] *

    xx[14] * xx[13] - (xx[28] - xx[51] * xx[32] * xx[1] - xx[51] * xx[33] * xx[1]

                       + 0.03194045367870467) * state[13];

  xx[42] = xx[24] - (xx[13] * xx[13] * xx[24] + xx[24] * xx[1] * xx[1]) * xx[51];

  pm_math_quatXform(xx + 35, xx + 40, xx + 12);

  xx[162] = fabs(xx[52] + xx[47] + xx[82] - (xx[114] + xx[51] * (xx[92] * xx[27]

    - xx[78] * xx[59]) * state[65] + xx[107]));

  xx[163] = fabs(xx[53] + xx[50] + xx[83] - (xx[115] + ((xx[59] * xx[88] + xx[27]

    * xx[90]) * xx[51] - xx[34]) * state[65] + xx[108]));

  xx[164] = fabs(xx[54] + xx[8] + xx[84] - (xx[116] + xx[51] * (xx[78] * xx[27]

    + xx[92] * xx[59]) * state[65] + xx[109]));

  xx[165] = fabs(xx[117] + xx[47] + xx[96] - (xx[124] + xx[51] * (xx[61] * xx[31]

    - xx[79] * xx[2]) * state[54] + xx[93]));

  xx[166] = fabs(xx[118] + xx[50] + xx[97] - (xx[125] + (xx[10] - (xx[6] * xx[79]

    + xx[25] * xx[61]) * xx[51]) * state[54] + xx[94]));

  xx[167] = fabs(xx[119] + xx[8] + xx[98] - (xx[126] + xx[51] * (xx[61] * xx[2]

    + xx[79] * xx[31]) * state[54] + xx[95]));

  xx[168] = fabs(xx[127] + xx[47] + xx[110] - (xx[143] + xx[104] - xx[51] * (xx

    [103] * xx[4] + xx[7] * xx[9]) * state[76]));

  xx[169] = fabs(xx[128] + xx[50] + xx[111] - (xx[144] + ((xx[9] * xx[87] + xx[4]

    * xx[102]) * xx[51] - xx[34]) * state[76] + xx[105]));

  xx[170] = fabs(xx[129] + xx[8] + xx[112] - (xx[145] + xx[51] * (xx[103] * xx[9]

    - xx[7] * xx[4]) * state[76] + xx[106]));

  xx[171] = fabs(xx[136] + xx[47] + xx[130] - (xx[159] + xx[51] * (xx[122] * xx

    [120] + xx[39] * xx[134]) * state[87] + xx[146]));

  xx[172] = fabs(xx[137] + xx[50] + xx[131] - (xx[160] + ((xx[134] * xx[113] +

    xx[120] * xx[121]) * xx[51] - xx[34]) * state[87] + xx[147]));

  xx[173] = fabs(xx[138] + xx[8] + xx[132] - (xx[161] + xx[51] * (xx[39] * xx

    [120] - xx[122] * xx[134]) * state[87] + xx[148]));

  xx[174] = fabs(xx[44] + xx[47] + xx[15] - (xx[66] + xx[51] * (xx[21] * xx[3] -

    xx[11] * xx[5]) * state[13] + xx[12]));

  xx[175] = fabs(xx[45] + xx[50] + xx[16] - (xx[67] + ((xx[5] * xx[18] + xx[3] *

    xx[20]) * xx[51] - xx[34]) * state[13] + xx[13]));

  xx[176] = fabs(xx[46] + xx[8] + xx[17] - (xx[68] + xx[51] * (xx[11] * xx[3] +

    xx[21] * xx[5]) * state[13] + xx[14]));

  ii[0] = 162;



  {

    int ll;

    for (ll = 163; ll < 177; ++ll)

      if (xx[ll] > xx[ii[0]])

        ii[0] = ll;

  }



  ii[0] -= 162;

  xx[0] = xx[162 + (ii[0])];

  xx[1] = xx[0] - 0.01;

  if (xx[1] < 0.0)

    ii[0] = -1;

  else if (xx[1] > 0.0)

    ii[0] = +1;

  else

    ii[0] = 0;

  ii[1] = ii[0];

  if (0 > ii[1])

    ii[1] = 0;

  return ii[1];

}



PmfMessageId PlatformAssem_f0ca4364_1_projectStateSim(const void *mech, const

  double *rtdv, const int *eqnEnableFlags, const double *input, double *state,

  void *neDiagMgr0)

{

  NeuDiagnosticManager *neDiagMgr = (NeuDiagnosticManager *) neDiagMgr0;

  int ii[15];

  double xx[1964];

  (void) mech;

  (void) rtdv;

  (void) eqnEnableFlags;

  (void) input;

  (void) neDiagMgr;

  xx[0] = 0.0;

  xx[1] = 0.7058357201813958;

  xx[2] = 0.5;

  xx[3] = xx[2] * state[23];

  xx[4] = sin(xx[3]);

  xx[5] = 0.7058407546227096;

  xx[6] = cos(xx[3]);

  xx[3] = xx[1] * xx[4] - xx[5] * xx[6];

  xx[7] = xx[2] * state[25];

  xx[8] = cos(xx[7]);

  xx[9] = xx[3] * xx[8];

  xx[10] = sin(xx[7]);

  xx[7] = xx[1] * xx[6] + xx[5] * xx[4];

  xx[11] = xx[10] * xx[7];

  xx[12] = 0.04233709306330295;

  xx[13] = 0.04233598682685397;

  xx[14] = xx[12] * xx[6] + xx[13] * xx[4];

  xx[15] = xx[12] * xx[4] - xx[13] * xx[6];

  xx[4] = - (xx[8] * xx[14] + xx[15] * xx[10]);

  xx[6] = xx[10] * xx[14] - xx[15] * xx[8];

  xx[16] = xx[3] * xx[10] + xx[8] * xx[7];

  xx[17] = xx[9] - xx[11];

  xx[18] = xx[4];

  xx[19] = xx[6];

  xx[20] = xx[16];

  xx[21] = 3.980251324392935e-7;

  xx[22] = 1.0;

  xx[23] = xx[22] / sqrt(state[27] * state[27] + state[28] * state[28] + state

    [29] * state[29] + state[30] * state[30]);

  xx[24] = xx[23] * state[30];

  xx[25] = 0.999999999999921;

  xx[26] = xx[23] * state[27];

  xx[27] = xx[21] * xx[24] - xx[25] * xx[26];

  xx[28] = xx[23] * state[29];

  xx[29] = xx[23] * state[28];

  xx[23] = xx[21] * xx[28] + xx[25] * xx[29];

  xx[30] = - xx[23];

  xx[31] = xx[25] * xx[28] - xx[21] * xx[29];

  xx[32] = - xx[31];

  xx[33] = xx[21] * xx[26] + xx[25] * xx[24];

  xx[34] = - xx[33];

  xx[35] = xx[27];

  xx[36] = xx[30];

  xx[37] = xx[32];

  xx[38] = xx[34];

  xx[39] = xx[22] / sqrt(state[34] * state[34] + state[35] * state[35] + state

    [36] * state[36] + state[37] * state[37]);

  xx[40] = xx[39] * state[37];

  xx[41] = 3.980251340548381e-7;

  xx[42] = xx[39] * state[34];

  xx[43] = xx[25] * xx[40] - xx[41] * xx[42];

  xx[44] = xx[39] * state[36];

  xx[45] = xx[39] * state[35];

  xx[39] = xx[25] * xx[44] - xx[41] * xx[45];

  xx[46] = xx[41] * xx[44] + xx[25] * xx[45];

  xx[47] = - xx[46];

  xx[48] = xx[41] * xx[40] + xx[25] * xx[42];

  xx[49] = - xx[48];

  xx[50] = xx[43];

  xx[51] = xx[39];

  xx[52] = xx[47];

  xx[53] = xx[49];

  xx[54] = xx[2] * state[43];

  xx[55] = cos(xx[54]);

  xx[56] = 0.3535533905932732;

  xx[57] = 0.8660254037844377;

  xx[58] = xx[2] * state[41];

  xx[59] = sin(xx[58]);

  xx[60] = xx[57] * xx[59];

  xx[61] = xx[56] * xx[60];

  xx[62] = 0.6123724356957949;

  xx[63] = 0.5000000000000017;

  xx[64] = xx[63] * xx[59];

  xx[59] = xx[62] * xx[64];

  xx[65] = cos(xx[58]);

  xx[58] = xx[62] * xx[65];

  xx[66] = xx[61] + xx[59] - xx[58];

  xx[67] = sin(xx[54]);

  xx[54] = xx[59] + xx[58] + xx[61];

  xx[58] = xx[55] * xx[66] + xx[67] * xx[54];

  xx[59] = xx[62] * xx[60];

  xx[60] = xx[56] * xx[65];

  xx[61] = xx[56] * xx[64];

  xx[64] = xx[59] + xx[60] - xx[61];

  xx[65] = xx[60] - xx[59] + xx[61];

  xx[59] = xx[64] * xx[55] - xx[67] * xx[65];

  xx[60] = xx[55] * xx[65] + xx[64] * xx[67];

  xx[61] = xx[55] * xx[54] - xx[67] * xx[66];

  pm_math_quatCompose(xx + 50, xx + 58, xx + 68);

  pm_math_quatCompose(xx + 35, xx + 68, xx + 72);

  pm_math_quatCompose(xx + 17, xx + 72, xx + 76);

  xx[80] = 2.0;

  xx[81] = xx[80] * (xx[73] * xx[75] - xx[72] * xx[74]);

  xx[82] = (xx[72] * xx[73] + xx[74] * xx[75]) * xx[80];

  xx[83] = xx[22] - (xx[73] * xx[73] + xx[74] * xx[74]) * xx[80];

  xx[72] = 7.599121945184391e-12;

  xx[73] = 5.036130209737022e-12;

  xx[74] = 5.192027881355888e-12;

  xx[84] = - xx[72];

  xx[85] = xx[73];

  xx[86] = - xx[74];

  pm_math_cross3(xx + 81, xx + 84, xx + 87);

  pm_math_quatXform(xx + 76, xx + 87, xx + 81);

  xx[75] = xx[66];

  xx[76] = xx[64];

  xx[77] = xx[65];

  xx[78] = xx[54];

  xx[79] = 0.02539999999999815;

  xx[87] = 2.191920996097441e-12;

  xx[88] = xx[87] * xx[67];

  xx[89] = xx[55] * xx[88];

  xx[90] = 3.368449963403463e-13;

  xx[91] = xx[90] * xx[67];

  xx[92] = xx[91] * xx[67];

  xx[93] = xx[79] + xx[80] * (xx[89] + xx[92]) - xx[90];

  xx[94] = xx[88] * xx[67];

  xx[88] = xx[55] * xx[91];

  xx[91] = xx[87] - (xx[94] - xx[88]) * xx[80];

  xx[95] = 0.1524264000010511;

  xx[96] = - xx[95];

  xx[97] = - xx[93];

  xx[98] = - xx[91];

  xx[99] = xx[96];

  pm_math_quatXform(xx + 75, xx + 97, xx + 100);

  xx[103] = 7.483145982728478e-12;

  xx[104] = 0.1158410329922703;

  xx[105] = 0.09621024525612519;

  xx[106] = xx[105] * xx[65];

  xx[107] = xx[64];

  xx[108] = xx[65];

  xx[109] = xx[54];

  xx[110] = xx[104] * xx[54] - xx[64] * xx[105];

  xx[111] = xx[104] * xx[65];

  xx[112] = xx[106];

  xx[113] = xx[110];

  xx[114] = - xx[111];

  pm_math_cross3(xx + 107, xx + 112, xx + 115);

  xx[107] = xx[103] + xx[104] + (xx[106] * xx[66] + xx[115]) * xx[80];

  xx[106] = xx[100] - xx[107];

  xx[108] = 5.088251355846174e-12;

  xx[109] = xx[108] - (xx[66] * xx[110] + xx[116]) * xx[80];

  xx[110] = xx[101] + xx[109];

  xx[100] = 4.00000000521855e-3;

  xx[101] = xx[100] + xx[105] + xx[80] * (xx[117] - xx[111] * xx[66]);

  xx[111] = xx[102] - xx[101];

  xx[112] = xx[106];

  xx[113] = xx[110];

  xx[114] = xx[111];

  pm_math_quatXform(xx + 50, xx + 112, xx + 115);

  xx[102] = 3.641924106626229e-8;

  xx[112] = xx[72];

  xx[113] = - xx[73];

  xx[114] = xx[74];

  pm_math_quatXform(xx + 50, xx + 112, xx + 118);

  xx[121] = xx[102] + xx[118];

  xx[122] = xx[115] + xx[121];

  xx[123] = 0.04574999999998041;

  xx[124] = xx[123] + xx[119];

  xx[125] = xx[116] + xx[124];

  xx[115] = 2.92603149291605e-7;

  xx[116] = xx[115] + xx[120];

  xx[118] = xx[117] + xx[116];

  xx[126] = xx[122];

  xx[127] = xx[125];

  xx[128] = xx[118];

  pm_math_quatXform(xx + 35, xx + 126, xx + 129);

  xx[117] = 3.641162862673871e-8;

  xx[119] = 0.04575000000717538;

  xx[126] = xx[117];

  xx[127] = xx[119];

  xx[128] = - 2.926046524752066e-7;

  pm_math_quatXform(xx + 35, xx + 126, xx + 132);

  xx[120] = xx[130] + xx[133];

  xx[130] = xx[129] + xx[132];

  xx[129] = xx[120] * xx[10] - xx[130] * xx[8];

  xx[131] = 3.107391981487723e-12;

  xx[135] = 9.83617579279345e-12;

  xx[136] = xx[131] * xx[8] + xx[135] * xx[10];

  xx[137] = xx[80] * xx[136] * xx[10];

  xx[138] = xx[80] * xx[10] * xx[129] - (xx[120] - xx[137]) - xx[135];

  xx[139] = xx[3];

  xx[140] = xx[7];

  xx[141] = xx[15];

  xx[120] = xx[80] * xx[136] * xx[8];

  xx[136] = xx[130] + xx[80] * xx[8] * xx[129] + xx[120] - xx[131];

  xx[129] = xx[15] * xx[136];

  xx[130] = xx[15] * xx[138];

  xx[142] = xx[3] * xx[136] - xx[138] * xx[7];

  xx[143] = - xx[129];

  xx[144] = xx[130];

  xx[145] = xx[142];

  pm_math_cross3(xx + 139, xx + 143, xx + 146);

  xx[149] = - (xx[11] - xx[9]);

  xx[150] = xx[4];

  xx[151] = xx[6];

  xx[152] = xx[16];

  pm_math_quatCompose(xx + 149, xx + 35, xx + 153);

  pm_math_quatCompose(xx + 153, xx + 68, xx + 157);

  xx[4] = 7.960502648785241e-7;

  xx[6] = xx[4] * xx[71];

  xx[9] = xx[4] * xx[69] + xx[70];

  xx[143] = xx[6];

  xx[144] = xx[71];

  xx[145] = - xx[9];

  pm_math_cross3(xx + 69, xx + 143, xx + 161);

  xx[11] = xx[68] * xx[71];

  xx[143] = xx[22] + (xx[161] - xx[68] * xx[6]) * xx[80];

  xx[144] = xx[80] * (xx[162] - xx[11]) - xx[4];

  xx[145] = xx[80] * (xx[163] + xx[68] * xx[9]);

  pm_math_cross3(xx + 143, xx + 84, xx + 161);

  pm_math_quatXform(xx + 157, xx + 161, xx + 143);

  xx[9] = - (xx[118] * xx[4]);

  xx[161] = xx[9];

  xx[162] = - xx[118];

  xx[163] = xx[125] + xx[122] * xx[4];

  pm_math_quatXform(xx + 35, xx + 161, xx + 164);

  xx[16] = 2.329280111075767e-13;

  xx[161] = 2.926046524751139e-7;

  xx[167] = xx[16];

  xx[168] = xx[161];

  xx[169] = 0.04575000000718987;

  pm_math_quatXform(xx + 35, xx + 167, xx + 170);

  xx[173] = xx[164] + xx[170];

  xx[174] = xx[165] + xx[171];

  xx[175] = xx[166] + xx[172];

  pm_math_quatXform(xx + 149, xx + 173, xx + 162);

  xx[165] = xx[69] - xx[4] * xx[70];

  xx[173] = - xx[71];

  xx[174] = xx[6];

  xx[175] = xx[165];

  pm_math_cross3(xx + 69, xx + 173, xx + 176);

  xx[173] = xx[4] + (xx[11] + xx[176]) * xx[80];

  xx[174] = xx[22] + xx[80] * (xx[177] - xx[4] * xx[11]);

  xx[175] = xx[80] * (xx[178] - xx[68] * xx[165]);

  pm_math_cross3(xx + 173, xx + 84, xx + 176);

  pm_math_quatXform(xx + 157, xx + 176, xx + 173);

  xx[176] = xx[118];

  xx[177] = xx[9];

  xx[178] = xx[125] * xx[4] - xx[122];

  pm_math_quatXform(xx + 35, xx + 176, xx + 179);

  xx[176] = - xx[161];

  xx[177] = xx[16];

  xx[178] = 7.670997177269469e-12;

  pm_math_quatXform(xx + 35, xx + 176, xx + 182);

  xx[185] = xx[179] + xx[182];

  xx[186] = xx[180] + xx[183];

  xx[187] = xx[181] + xx[184];

  pm_math_quatXform(xx + 149, xx + 185, xx + 179);

  xx[185] = xx[80] * (xx[69] * xx[71] - xx[68] * xx[70]);

  xx[186] = (xx[68] * xx[69] + xx[70] * xx[71]) * xx[80];

  xx[187] = xx[22] - (xx[69] * xx[69] + xx[70] * xx[70]) * xx[80];

  pm_math_cross3(xx + 185, xx + 84, xx + 68);

  pm_math_quatXform(xx + 157, xx + 68, xx + 185);

  xx[68] = xx[30];

  xx[69] = xx[32];

  xx[70] = xx[34];

  xx[6] = xx[122] * xx[33];

  xx[9] = xx[125] * xx[33];

  xx[11] = xx[122] * xx[23] + xx[31] * xx[125];

  xx[157] = xx[6];

  xx[158] = xx[9];

  xx[159] = - xx[11];

  pm_math_cross3(xx + 68, xx + 157, xx + 188);

  xx[16] = xx[117] * xx[33];

  xx[30] = xx[119] * xx[33];

  xx[32] = xx[117] * xx[23] + xx[31] * xx[119];

  xx[157] = xx[16];

  xx[158] = xx[30];

  xx[159] = - xx[32];

  pm_math_cross3(xx + 68, xx + 157, xx + 191);

  xx[34] = xx[80] * (xx[191] + xx[16] * xx[27]);

  xx[16] = (xx[30] * xx[27] + xx[192]) * xx[80];

  xx[30] = (xx[193] - xx[32] * xx[27]) * xx[80];

  xx[157] = xx[80] * (xx[188] + xx[6] * xx[27]) + xx[34] - xx[125] - xx[119];

  xx[158] = xx[122] + xx[80] * (xx[189] + xx[9] * xx[27]) + xx[16] + xx[117];

  xx[159] = (xx[190] - xx[27] * xx[11]) * xx[80] + xx[30];

  pm_math_quatXform(xx + 149, xx + 157, xx + 188);

  pm_math_quatCompose(xx + 153, xx + 50, xx + 157);

  pm_math_quatCompose(xx + 157, xx + 58, xx + 191);

  xx[6] = xx[60] * xx[60];

  xx[9] = xx[61] * xx[61];

  xx[11] = xx[60] * xx[59];

  xx[32] = xx[58] * xx[61];

  xx[71] = xx[60] * xx[58];

  xx[118] = xx[61] * xx[59];

  xx[195] = xx[22] - (xx[6] + xx[9]) * xx[80];

  xx[196] = xx[80] * (xx[11] - xx[32]);

  xx[197] = (xx[71] + xx[118]) * xx[80];

  pm_math_cross3(xx + 195, xx + 84, xx + 198);

  pm_math_quatXform(xx + 191, xx + 198, xx + 195);

  xx[198] = xx[39];

  xx[199] = xx[47];

  xx[200] = xx[49];

  xx[47] = xx[46] * xx[110];

  xx[49] = xx[48] * xx[111];

  xx[122] = xx[47] + xx[49];

  xx[125] = xx[110] * xx[39];

  xx[161] = xx[111] * xx[39];

  xx[201] = - xx[122];

  xx[202] = - xx[125];

  xx[203] = - xx[161];

  pm_math_cross3(xx + 198, xx + 201, xx + 204);

  xx[165] = xx[46] * xx[73];

  xx[166] = xx[48] * xx[74];

  xx[201] = xx[165] - xx[166];

  xx[202] = xx[73] * xx[39];

  xx[203] = xx[74] * xx[39];

  xx[207] = xx[201];

  xx[208] = xx[202];

  xx[209] = - xx[203];

  pm_math_cross3(xx + 198, xx + 207, xx + 210);

  xx[207] = (xx[43] * xx[201] + xx[210]) * xx[80];

  xx[201] = xx[80] * (xx[211] + xx[202] * xx[43]);

  xx[202] = (xx[212] - xx[203] * xx[43]) * xx[80];

  xx[208] = xx[80] * (xx[204] - xx[122] * xx[43]) + xx[207];

  xx[209] = xx[80] * (xx[205] - xx[125] * xx[43]) + xx[201] - xx[111] - xx[74];

  xx[210] = xx[110] + xx[80] * (xx[206] - xx[161] * xx[43]) + xx[202] - xx[73];

  pm_math_quatXform(xx + 153, xx + 208, xx + 203);

  xx[122] = xx[59] * xx[59];

  xx[125] = xx[60] * xx[61];

  xx[60] = xx[58] * xx[59];

  xx[208] = (xx[32] + xx[11]) * xx[80];

  xx[209] = xx[22] - (xx[9] + xx[122]) * xx[80];

  xx[210] = xx[80] * (xx[125] - xx[60]);

  pm_math_cross3(xx + 208, xx + 84, xx + 211);

  pm_math_quatXform(xx + 191, xx + 211, xx + 208);

  xx[9] = xx[46] * xx[106];

  xx[11] = xx[106] * xx[39];

  xx[32] = xx[11] - xx[49];

  xx[49] = xx[46] * xx[111];

  xx[211] = xx[9];

  xx[212] = xx[32];

  xx[213] = xx[49];

  pm_math_cross3(xx + 198, xx + 211, xx + 214);

  xx[58] = xx[46] * xx[72];

  xx[59] = xx[72] * xx[39];

  xx[61] = xx[166] - xx[59];

  xx[161] = xx[46] * xx[74];

  xx[211] = xx[58];

  xx[212] = - xx[61];

  xx[213] = xx[161];

  pm_math_cross3(xx + 198, xx + 211, xx + 217);

  xx[166] = xx[80] * (xx[217] + xx[58] * xx[43]);

  xx[58] = xx[80] * (xx[218] - xx[61] * xx[43]);

  xx[61] = (xx[161] * xx[43] + xx[219]) * xx[80];

  xx[211] = xx[111] + (xx[9] * xx[43] + xx[214]) * xx[80] + xx[166] + xx[74];

  xx[212] = (xx[43] * xx[32] + xx[215]) * xx[80] + xx[58];

  xx[213] = (xx[49] * xx[43] + xx[216]) * xx[80] + xx[61] - xx[106] - xx[72];

  pm_math_quatXform(xx + 153, xx + 211, xx + 214);

  xx[211] = xx[80] * (xx[118] - xx[71]);

  xx[212] = (xx[60] + xx[125]) * xx[80];

  xx[213] = xx[22] - (xx[122] + xx[6]) * xx[80];

  pm_math_cross3(xx + 211, xx + 84, xx + 217);

  pm_math_quatXform(xx + 191, xx + 217, xx + 211);

  xx[6] = xx[48] * xx[106];

  xx[9] = xx[48] * xx[110];

  xx[32] = xx[11] - xx[47];

  xx[191] = xx[6];

  xx[192] = xx[9];

  xx[193] = xx[32];

  pm_math_cross3(xx + 198, xx + 191, xx + 217);

  xx[11] = xx[48] * xx[72];

  xx[47] = xx[48] * xx[73];

  xx[49] = xx[59] + xx[165];

  xx[191] = xx[11];

  xx[192] = - xx[47];

  xx[193] = xx[49];

  pm_math_cross3(xx + 198, xx + 191, xx + 220);

  xx[59] = (xx[11] * xx[43] + xx[220]) * xx[80];

  xx[11] = xx[80] * (xx[221] - xx[47] * xx[43]);

  xx[47] = (xx[49] * xx[43] + xx[222]) * xx[80];

  xx[191] = (xx[6] * xx[43] + xx[217]) * xx[80] + xx[59] - xx[110] + xx[73];

  xx[192] = xx[106] + (xx[9] * xx[43] + xx[218]) * xx[80] + xx[11] + xx[72];

  xx[193] = (xx[43] * xx[32] + xx[219]) * xx[80] + xx[47];

  pm_math_quatXform(xx + 153, xx + 191, xx + 217);

  pm_math_quatCompose(xx + 157, xx + 75, xx + 191);

  xx[6] = xx[55] * xx[191] + xx[194] * xx[67];

  xx[9] = xx[55] * xx[192] - xx[193] * xx[67];

  xx[32] = xx[55] * xx[193] + xx[192] * xx[67];

  xx[49] = xx[55] * xx[194] - xx[191] * xx[67];

  xx[220] = xx[6];

  xx[221] = xx[9];

  xx[222] = xx[32];

  xx[223] = xx[49];

  xx[60] = xx[57] * xx[67];

  xx[71] = xx[80] * xx[55] * xx[60];

  xx[55] = 2.51806510486852e-12;

  xx[106] = 3.799560972592208e-12;

  xx[110] = xx[80] * xx[60] * xx[67] - xx[57];

  xx[224] = xx[74] * xx[71] + xx[55];

  xx[225] = xx[106] + xx[74] * xx[110];

  xx[226] = xx[73] * xx[110] - xx[72] * xx[71];

  pm_math_quatXform(xx + 220, xx + 224, xx + 227);

  xx[60] = 0.1320051346083185;

  xx[224] = - (xx[63] * xx[91]);

  xx[225] = xx[63] * xx[93] - xx[60];

  xx[226] = xx[57] * xx[91];

  pm_math_quatXform(xx + 75, xx + 224, xx + 230);

  xx[67] = 0.02540000000000025;

  xx[71] = xx[67] * xx[54];

  xx[91] = xx[64] * xx[67];

  xx[93] = xx[80] * (xx[71] * xx[66] - xx[91] * xx[65]);

  xx[110] = (xx[71] * xx[54] + xx[64] * xx[91]) * xx[80];

  xx[111] = (xx[91] * xx[66] + xx[71] * xx[65]) * xx[80];

  xx[224] = xx[230] + xx[93];

  xx[225] = xx[231] + xx[110] - xx[67];

  xx[226] = xx[232] - xx[111];

  pm_math_quatXform(xx + 157, xx + 224, xx + 230);

  xx[224] = xx[9];

  xx[225] = xx[32];

  xx[226] = xx[49];

  xx[71] = xx[72] * xx[49];

  xx[91] = xx[73] * xx[49];

  xx[49] = xx[72] * xx[9] - xx[32] * xx[73];

  xx[233] = - xx[71];

  xx[234] = xx[91];

  xx[235] = xx[49];

  pm_math_cross3(xx + 224, xx + 233, xx + 236);

  xx[9] = xx[80] * (xx[94] - xx[88]) - xx[87];

  xx[32] = (xx[89] + xx[92]) * xx[80] - xx[90];

  xx[88] = xx[194] * xx[32];

  xx[89] = xx[9] * xx[194];

  xx[92] = xx[192] * xx[32] - xx[9] * xx[193];

  xx[224] = - xx[88];

  xx[225] = xx[89];

  xx[226] = xx[92];

  pm_math_cross3(xx + 192, xx + 224, xx + 233);

  xx[94] = xx[2] * state[66];

  xx[118] = cos(xx[94]);

  xx[122] = 0.5901074779979936;

  xx[125] = xx[2] * state[64];

  xx[161] = cos(xx[125]);

  xx[165] = 0.5901036711621467;

  xx[206] = sin(xx[125]);

  xx[125] = xx[122] * xx[161] + xx[165] * xx[206];

  xx[224] = xx[118] * xx[125];

  xx[225] = xx[165] * xx[161] - xx[122] * xx[206];

  xx[226] = sin(xx[94]);

  xx[94] = xx[225] * xx[226];

  xx[239] = 0.389585375426561;

  xx[240] = 0.3895819001770367;

  xx[241] = xx[239] * xx[161] - xx[240] * xx[206];

  xx[242] = xx[240] * xx[161] + xx[239] * xx[206];

  xx[161] = - (xx[241] * xx[118] - xx[226] * xx[242]);

  xx[206] = xx[241] * xx[226] + xx[118] * xx[242];

  xx[243] = xx[225] * xx[118] - xx[226] * xx[125];

  xx[244] = - (xx[224] + xx[94]);

  xx[245] = xx[161];

  xx[246] = xx[206];

  xx[247] = xx[243];

  xx[248] = xx[22] / sqrt(state[68] * state[68] + state[69] * state[69] + state

    [70] * state[70] + state[71] * state[71]);

  xx[249] = xx[248] * state[71];

  xx[250] = xx[248] * state[68];

  xx[251] = xx[21] * xx[249] - xx[25] * xx[250];

  xx[252] = xx[248] * state[70];

  xx[253] = xx[248] * state[69];

  xx[248] = xx[21] * xx[252] + xx[25] * xx[253];

  xx[254] = - xx[248];

  xx[255] = xx[25] * xx[252] - xx[21] * xx[253];

  xx[256] = - xx[255];

  xx[257] = xx[21] * xx[250] + xx[25] * xx[249];

  xx[258] = - xx[257];

  xx[259] = xx[251];

  xx[260] = xx[254];

  xx[261] = xx[256];

  xx[262] = xx[258];

  pm_math_quatCompose(xx + 244, xx + 259, xx + 263);

  xx[244] = (xx[255] * xx[251] + xx[248] * xx[257]) * xx[80];

  xx[245] = xx[80] * (xx[255] * xx[257] - xx[248] * xx[251]);

  xx[246] = xx[22] - (xx[248] * xx[248] + xx[255] * xx[255]) * xx[80];

  xx[267] = xx[102];

  xx[268] = xx[123];

  xx[269] = xx[115];

  pm_math_cross3(xx + 244, xx + 267, xx + 270);

  pm_math_quatXform(xx + 263, xx + 270, xx + 244);

  pm_math_quatXform(xx + 259, xx + 126, xx + 263);

  xx[247] = xx[264] * xx[226] - xx[118] * xx[263];

  xx[266] = 6.924287580811761e-12;

  xx[270] = 1.024070757638107e-11;

  xx[271] = xx[266] * xx[226] - xx[270] * xx[118];

  xx[272] = xx[80] * xx[226] * xx[247] - (xx[264] + xx[80] * xx[271] * xx[226])

    + xx[266];

  xx[273] = - xx[125];

  xx[274] = - xx[242];

  xx[275] = xx[273];

  xx[276] = xx[225];

  xx[277] = xx[274];

  xx[278] = xx[263] + xx[80] * xx[118] * xx[247] - xx[80] * xx[271] * xx[118] -

    xx[270];

  xx[247] = xx[278] * xx[242];

  xx[271] = xx[272] * xx[242];

  xx[279] = xx[278] * xx[125] + xx[225] * xx[272];

  xx[280] = xx[247];

  xx[281] = - xx[271];

  xx[282] = - xx[279];

  pm_math_cross3(xx + 275, xx + 280, xx + 283);

  xx[286] = - (xx[94] + xx[224]);

  xx[287] = xx[161];

  xx[288] = xx[206];

  xx[289] = xx[243];

  pm_math_quatCompose(xx + 286, xx + 259, xx + 290);

  xx[94] = - 2.329268144978725e-13;

  xx[280] = xx[94];

  xx[281] = - xx[115];

  xx[282] = 0.0457500000000094;

  pm_math_quatXform(xx + 290, xx + 280, xx + 294);

  pm_math_quatXform(xx + 259, xx + 167, xx + 297);

  pm_math_quatXform(xx + 286, xx + 297, xx + 300);

  xx[297] = xx[115];

  xx[298] = xx[94];

  xx[299] = 5.855191459023036e-14;

  pm_math_quatXform(xx + 290, xx + 297, xx + 303);

  pm_math_quatXform(xx + 259, xx + 176, xx + 306);

  pm_math_quatXform(xx + 286, xx + 306, xx + 259);

  xx[94] = xx[102] * xx[293];

  xx[161] = xx[102] * xx[291] + xx[123] * xx[292];

  xx[306] = - xx[94];

  xx[307] = - (xx[123] * xx[293]);

  xx[308] = xx[161];

  pm_math_cross3(xx + 291, xx + 306, xx + 309);

  xx[306] = xx[254];

  xx[307] = xx[256];

  xx[308] = xx[258];

  xx[206] = xx[117] * xx[257];

  xx[224] = xx[119] * xx[257];

  xx[243] = xx[117] * xx[248] + xx[255] * xx[119];

  xx[254] = xx[206];

  xx[255] = xx[224];

  xx[256] = - xx[243];

  pm_math_cross3(xx + 306, xx + 254, xx + 312);

  xx[254] = xx[80] * (xx[312] + xx[206] * xx[251]) - xx[119];

  xx[255] = xx[117] + (xx[224] * xx[251] + xx[313]) * xx[80];

  xx[256] = (xx[314] - xx[243] * xx[251]) * xx[80];

  pm_math_quatXform(xx + 286, xx + 254, xx + 306);

  xx[206] = xx[2] * state[45];

  xx[224] = sin(xx[206]);

  xx[243] = xx[62] * xx[224];

  xx[248] = cos(xx[206]);

  xx[206] = xx[62] * xx[248];

  xx[251] = xx[243] - xx[206];

  xx[254] = xx[56] * xx[248];

  xx[248] = xx[56] * xx[224];

  xx[224] = xx[254] + xx[248];

  xx[255] = - xx[224];

  xx[256] = xx[248] - xx[254];

  xx[248] = xx[243] + xx[206];

  xx[206] = - xx[248];

  xx[312] = xx[251];

  xx[313] = xx[255];

  xx[314] = xx[256];

  xx[315] = xx[206];

  pm_math_quatCompose(xx + 75, xx + 312, xx + 316);

  pm_math_quatCompose(xx + 50, xx + 316, xx + 320);

  pm_math_quatCompose(xx + 35, xx + 320, xx + 324);

  pm_math_quatCompose(xx + 17, xx + 324, xx + 328);

  xx[332] = xx[80] * (xx[325] * xx[327] - xx[324] * xx[326]);

  xx[333] = (xx[324] * xx[325] + xx[326] * xx[327]) * xx[80];

  xx[334] = xx[22] - (xx[325] * xx[325] + xx[326] * xx[326]) * xx[80];

  pm_math_cross3(xx + 332, xx + 84, xx + 324);

  pm_math_quatXform(xx + 328, xx + 324, xx + 332);

  xx[243] = 0.1412410329922704;

  xx[254] = 1.121202762681406e-11;

  xx[257] = 6.145027516349377e-13;

  xx[324] = - xx[254];

  xx[325] = - xx[257];

  xx[326] = - 3.999999999522439e-3;

  pm_math_quatXform(xx + 312, xx + 324, xx + 327);

  xx[258] = xx[243] - xx[327];

  xx[262] = 0.05221615474387575;

  xx[327] = xx[262] - xx[329];

  xx[329] = xx[258];

  xx[330] = - xx[328];

  xx[331] = xx[327];

  pm_math_quatXform(xx + 75, xx + 329, xx + 335);

  xx[338] = xx[335] - xx[107];

  xx[339] = xx[336] + xx[109];

  xx[335] = xx[337] - xx[101];

  xx[340] = xx[338];

  xx[341] = xx[339];

  xx[342] = xx[335];

  pm_math_quatXform(xx + 50, xx + 340, xx + 343);

  xx[336] = xx[343] + xx[121];

  xx[337] = xx[344] + xx[124];

  xx[340] = xx[345] + xx[116];

  xx[341] = xx[336];

  xx[342] = xx[337];

  xx[343] = xx[340];

  pm_math_quatXform(xx + 35, xx + 341, xx + 344);

  xx[341] = xx[345] + xx[133];

  xx[342] = xx[344] + xx[132];

  xx[343] = xx[341] * xx[10] - xx[342] * xx[8];

  xx[344] = xx[80] * xx[10] * xx[343] - (xx[341] - xx[137]) - xx[135];

  xx[341] = xx[342] + xx[80] * xx[8] * xx[343] + xx[120] - xx[131];

  xx[342] = xx[341] * xx[15];

  xx[343] = xx[344] * xx[15];

  xx[345] = xx[341] * xx[3] - xx[344] * xx[7];

  xx[346] = - xx[342];

  xx[347] = xx[343];

  xx[348] = xx[345];

  pm_math_cross3(xx + 139, xx + 346, xx + 349);

  pm_math_quatCompose(xx + 153, xx + 320, xx + 352);

  xx[346] = xx[4] * xx[323];

  xx[347] = xx[4] * xx[321] + xx[322];

  xx[356] = xx[346];

  xx[357] = xx[323];

  xx[358] = - xx[347];

  pm_math_cross3(xx + 321, xx + 356, xx + 359);

  xx[348] = xx[320] * xx[323];

  xx[356] = xx[22] + (xx[359] - xx[320] * xx[346]) * xx[80];

  xx[357] = xx[80] * (xx[360] - xx[348]) - xx[4];

  xx[358] = xx[80] * (xx[361] + xx[320] * xx[347]);

  pm_math_cross3(xx + 356, xx + 84, xx + 359);

  pm_math_quatXform(xx + 352, xx + 359, xx + 356);

  xx[347] = - (xx[340] * xx[4]);

  xx[359] = xx[347];

  xx[360] = - xx[340];

  xx[361] = xx[337] + xx[336] * xx[4];

  pm_math_quatXform(xx + 35, xx + 359, xx + 362);

  xx[359] = xx[362] + xx[170];

  xx[360] = xx[363] + xx[171];

  xx[361] = xx[364] + xx[172];

  pm_math_quatXform(xx + 149, xx + 359, xx + 362);

  xx[359] = xx[321] - xx[4] * xx[322];

  xx[365] = - xx[323];

  xx[366] = xx[346];

  xx[367] = xx[359];

  pm_math_cross3(xx + 321, xx + 365, xx + 368);

  xx[365] = xx[4] + (xx[348] + xx[368]) * xx[80];

  xx[366] = xx[22] + xx[80] * (xx[369] - xx[4] * xx[348]);

  xx[367] = xx[80] * (xx[370] - xx[320] * xx[359]);

  pm_math_cross3(xx + 365, xx + 84, xx + 359);

  pm_math_quatXform(xx + 352, xx + 359, xx + 365);

  xx[359] = xx[340];

  xx[360] = xx[347];

  xx[361] = xx[337] * xx[4] - xx[336];

  pm_math_quatXform(xx + 35, xx + 359, xx + 346);

  xx[359] = xx[346] + xx[182];

  xx[360] = xx[347] + xx[183];

  xx[361] = xx[348] + xx[184];

  pm_math_quatXform(xx + 149, xx + 359, xx + 346);

  xx[359] = xx[80] * (xx[321] * xx[323] - xx[320] * xx[322]);

  xx[360] = (xx[320] * xx[321] + xx[322] * xx[323]) * xx[80];

  xx[361] = xx[22] - (xx[321] * xx[321] + xx[322] * xx[322]) * xx[80];

  pm_math_cross3(xx + 359, xx + 84, xx + 320);

  pm_math_quatXform(xx + 352, xx + 320, xx + 359);

  xx[320] = xx[336] * xx[33];

  xx[321] = xx[337] * xx[33];

  xx[322] = xx[336] * xx[23] + xx[337] * xx[31];

  xx[352] = xx[320];

  xx[353] = xx[321];

  xx[354] = - xx[322];

  pm_math_cross3(xx + 68, xx + 352, xx + 368);

  xx[352] = xx[80] * (xx[368] + xx[320] * xx[27]) + xx[34] - xx[337] - xx[119];

  xx[353] = xx[336] + xx[80] * (xx[369] + xx[321] * xx[27]) + xx[16] + xx[117];

  xx[354] = (xx[370] - xx[322] * xx[27]) * xx[80] + xx[30];

  pm_math_quatXform(xx + 149, xx + 352, xx + 320);

  pm_math_quatCompose(xx + 157, xx + 316, xx + 352);

  xx[323] = xx[318] * xx[318];

  xx[336] = xx[319] * xx[319];

  xx[337] = xx[317] * xx[318];

  xx[340] = xx[316] * xx[319];

  xx[368] = xx[316] * xx[318];

  xx[369] = xx[317] * xx[319];

  xx[370] = xx[22] - (xx[323] + xx[336]) * xx[80];

  xx[371] = xx[80] * (xx[337] - xx[340]);

  xx[372] = (xx[368] + xx[369]) * xx[80];

  pm_math_cross3(xx + 370, xx + 84, xx + 373);

  pm_math_quatXform(xx + 352, xx + 373, xx + 370);

  xx[373] = xx[339] * xx[46];

  xx[374] = xx[335] * xx[48];

  xx[375] = xx[373] + xx[374];

  xx[376] = xx[339] * xx[39];

  xx[377] = xx[335] * xx[39];

  xx[378] = - xx[375];

  xx[379] = - xx[376];

  xx[380] = - xx[377];

  pm_math_cross3(xx + 198, xx + 378, xx + 381);

  xx[378] = xx[80] * (xx[381] - xx[375] * xx[43]) + xx[207];

  xx[379] = xx[80] * (xx[382] - xx[376] * xx[43]) + xx[201] - xx[335] - xx[74];

  xx[380] = xx[339] + xx[80] * (xx[383] - xx[377] * xx[43]) + xx[202] - xx[73];

  pm_math_quatXform(xx + 153, xx + 378, xx + 375);

  xx[378] = xx[317] * xx[317];

  xx[379] = xx[318] * xx[319];

  xx[318] = xx[316] * xx[317];

  xx[380] = (xx[340] + xx[337]) * xx[80];

  xx[381] = xx[22] - (xx[336] + xx[378]) * xx[80];

  xx[382] = xx[80] * (xx[379] - xx[318]);

  pm_math_cross3(xx + 380, xx + 84, xx + 383);

  pm_math_quatXform(xx + 352, xx + 383, xx + 380);

  xx[316] = xx[338] * xx[46];

  xx[317] = xx[338] * xx[39];

  xx[319] = xx[317] - xx[374];

  xx[336] = xx[335] * xx[46];

  xx[383] = xx[316];

  xx[384] = xx[319];

  xx[385] = xx[336];

  pm_math_cross3(xx + 198, xx + 383, xx + 386);

  xx[383] = xx[335] + (xx[316] * xx[43] + xx[386]) * xx[80] + xx[166] + xx[74];

  xx[384] = (xx[319] * xx[43] + xx[387]) * xx[80] + xx[58];

  xx[385] = (xx[336] * xx[43] + xx[388]) * xx[80] + xx[61] - xx[338] - xx[72];

  pm_math_quatXform(xx + 153, xx + 383, xx + 335);

  xx[383] = xx[80] * (xx[369] - xx[368]);

  xx[384] = (xx[318] + xx[379]) * xx[80];

  xx[385] = xx[22] - (xx[378] + xx[323]) * xx[80];

  pm_math_cross3(xx + 383, xx + 84, xx + 386);

  pm_math_quatXform(xx + 352, xx + 386, xx + 383);

  xx[316] = xx[338] * xx[48];

  xx[318] = xx[339] * xx[48];

  xx[319] = xx[317] - xx[373];

  xx[352] = xx[316];

  xx[353] = xx[318];

  xx[354] = xx[319];

  pm_math_cross3(xx + 198, xx + 352, xx + 386);

  xx[352] = (xx[316] * xx[43] + xx[386]) * xx[80] + xx[59] - xx[339] + xx[73];

  xx[353] = xx[338] + (xx[318] * xx[43] + xx[387]) * xx[80] + xx[11] + xx[72];

  xx[354] = (xx[319] * xx[43] + xx[388]) * xx[80] + xx[47];

  pm_math_quatXform(xx + 153, xx + 352, xx + 316);

  pm_math_quatCompose(xx + 191, xx + 312, xx + 352);

  xx[312] = xx[255];

  xx[313] = xx[256];

  xx[314] = xx[206];

  xx[206] = xx[63] * xx[256];

  xx[255] = xx[248] * xx[57] - xx[224] * xx[63];

  xx[315] = xx[57] * xx[256];

  xx[338] = - xx[206];

  xx[339] = xx[255];

  xx[340] = xx[315];

  pm_math_cross3(xx + 312, xx + 338, xx + 386);

  xx[338] = xx[80] * (xx[386] + xx[206] * xx[251]) - xx[57];

  xx[339] = xx[80] * (xx[387] - xx[251] * xx[255]);

  xx[340] = (xx[388] - xx[315] * xx[251]) * xx[80] - xx[63];

  pm_math_cross3(xx + 338, xx + 84, xx + 386);

  pm_math_quatXform(xx + 352, xx + 386, xx + 338);

  xx[386] = - (xx[63] * xx[328]);

  xx[387] = xx[57] * xx[327] - xx[63] * xx[258];

  xx[388] = xx[57] * xx[328];

  pm_math_quatXform(xx + 75, xx + 386, xx + 389);

  xx[386] = xx[389] + xx[93];

  xx[387] = xx[390] + xx[110] - xx[67];

  xx[388] = xx[391] - xx[111];

  pm_math_quatXform(xx + 157, xx + 386, xx + 389);

  xx[206] = xx[72] * xx[355];

  xx[255] = xx[73] * xx[354] - xx[72] * xx[353];

  xx[386] = xx[206];

  xx[387] = - (xx[73] * xx[355]);

  xx[388] = xx[255];

  pm_math_cross3(xx + 353, xx + 386, xx + 392);

  xx[258] = xx[248] * xx[254];

  xx[315] = xx[248] * xx[257];

  xx[248] = xx[257] * xx[256] - xx[224] * xx[254];

  xx[386] = xx[258];

  xx[387] = xx[315];

  xx[388] = xx[248];

  pm_math_cross3(xx + 312, xx + 386, xx + 395);

  xx[312] = xx[80] * (xx[395] + xx[258] * xx[251]) - xx[257];

  xx[313] = xx[254] + (xx[315] * xx[251] + xx[396]) * xx[80];

  xx[314] = (xx[251] * xx[248] + xx[397]) * xx[80];

  pm_math_quatXform(xx + 191, xx + 312, xx + 386);

  xx[224] = xx[2] * state[53];

  xx[248] = sin(xx[224]);

  xx[251] = cos(xx[224]);

  xx[224] = xx[1] * xx[248] - xx[5] * xx[251];

  xx[256] = xx[2] * state[55];

  xx[258] = cos(xx[256]);

  xx[312] = xx[224] * xx[258];

  xx[313] = sin(xx[256]);

  xx[256] = xx[1] * xx[251] + xx[5] * xx[248];

  xx[314] = xx[313] * xx[256];

  xx[315] = xx[12] * xx[251] + xx[13] * xx[248];

  xx[319] = xx[12] * xx[248] - xx[13] * xx[251];

  xx[248] = - (xx[258] * xx[315] + xx[319] * xx[313]);

  xx[251] = xx[313] * xx[315] - xx[319] * xx[258];

  xx[323] = xx[224] * xx[313] + xx[258] * xx[256];

  xx[395] = xx[312] - xx[314];

  xx[396] = xx[248];

  xx[397] = xx[251];

  xx[398] = xx[323];

  xx[327] = xx[22] / sqrt(state[57] * state[57] + state[58] * state[58] + state

    [59] * state[59] + state[60] * state[60]);

  xx[328] = xx[327] * state[60];

  xx[368] = xx[327] * state[57];

  xx[369] = xx[21] * xx[328] - xx[25] * xx[368];

  xx[373] = xx[327] * state[59];

  xx[374] = xx[327] * state[58];

  xx[327] = xx[21] * xx[373] + xx[25] * xx[374];

  xx[378] = - xx[327];

  xx[379] = xx[25] * xx[373] - xx[21] * xx[374];

  xx[399] = - xx[379];

  xx[400] = xx[21] * xx[368] + xx[25] * xx[328];

  xx[401] = - xx[400];

  xx[402] = xx[369];

  xx[403] = xx[378];

  xx[404] = xx[399];

  xx[405] = xx[401];

  pm_math_quatCompose(xx + 395, xx + 402, xx + 406);

  xx[395] = (xx[379] * xx[369] + xx[400] * xx[327]) * xx[80];

  xx[396] = xx[80] * (xx[379] * xx[400] - xx[369] * xx[327]);

  xx[397] = xx[22] - (xx[327] * xx[327] + xx[379] * xx[379]) * xx[80];

  pm_math_cross3(xx + 395, xx + 267, xx + 410);

  pm_math_quatXform(xx + 406, xx + 410, xx + 395);

  pm_math_quatXform(xx + 402, xx + 126, xx + 406);

  xx[398] = xx[407] * xx[313] - xx[258] * xx[406];

  xx[409] = 9.27756931389703e-12;

  xx[410] = 5.443558296964576e-12;

  xx[411] = xx[409] * xx[258] + xx[410] * xx[313];

  xx[412] = xx[80] * xx[313] * xx[398] - (xx[407] + xx[80] * xx[411] * xx[313])

    + xx[410];

  xx[413] = xx[224];

  xx[414] = xx[256];

  xx[415] = xx[319];

  xx[416] = xx[406] + xx[80] * xx[258] * xx[398] - xx[80] * xx[411] * xx[258] +

    xx[409];

  xx[398] = xx[319] * xx[416];

  xx[411] = xx[319] * xx[412];

  xx[417] = xx[224] * xx[416] - xx[412] * xx[256];

  xx[418] = - xx[398];

  xx[419] = xx[411];

  xx[420] = xx[417];

  pm_math_cross3(xx + 413, xx + 418, xx + 421);

  xx[424] = - (xx[314] - xx[312]);

  xx[425] = xx[248];

  xx[426] = xx[251];

  xx[427] = xx[323];

  pm_math_quatCompose(xx + 424, xx + 402, xx + 428);

  pm_math_quatXform(xx + 428, xx + 280, xx + 418);

  pm_math_quatXform(xx + 402, xx + 167, xx + 432);

  pm_math_quatXform(xx + 424, xx + 432, xx + 435);

  pm_math_quatXform(xx + 428, xx + 297, xx + 432);

  pm_math_quatXform(xx + 402, xx + 176, xx + 438);

  pm_math_quatXform(xx + 424, xx + 438, xx + 402);

  xx[248] = xx[102] * xx[431];

  xx[251] = xx[102] * xx[429] + xx[123] * xx[430];

  xx[438] = - xx[248];

  xx[439] = - (xx[123] * xx[431]);

  xx[440] = xx[251];

  pm_math_cross3(xx + 429, xx + 438, xx + 441);

  xx[438] = xx[378];

  xx[439] = xx[399];

  xx[440] = xx[401];

  xx[312] = xx[117] * xx[400];

  xx[314] = xx[119] * xx[400];

  xx[323] = xx[117] * xx[327] + xx[379] * xx[119];

  xx[399] = xx[312];

  xx[400] = xx[314];

  xx[401] = - xx[323];

  pm_math_cross3(xx + 438, xx + 399, xx + 444);

  xx[399] = xx[80] * (xx[444] + xx[312] * xx[369]) - xx[119];

  xx[400] = xx[117] + (xx[314] * xx[369] + xx[445]) * xx[80];

  xx[401] = (xx[446] - xx[323] * xx[369]) * xx[80];

  pm_math_quatXform(xx + 424, xx + 399, xx + 438);

  xx[312] = 0.3535533905932758;

  xx[314] = xx[2] * state[47];

  xx[323] = cos(xx[314]);

  xx[327] = xx[312] * xx[323];

  xx[369] = sin(xx[314]);

  xx[314] = xx[312] * xx[369];

  xx[378] = xx[327] + xx[314];

  xx[379] = 0.6123724356957934;

  xx[399] = xx[379] * xx[369];

  xx[369] = xx[379] * xx[323];

  xx[323] = xx[399] - xx[369];

  xx[400] = xx[369] + xx[399];

  xx[369] = - xx[400];

  xx[399] = xx[314] - xx[327];

  xx[444] = - xx[378];

  xx[445] = xx[323];

  xx[446] = xx[369];

  xx[447] = xx[399];

  pm_math_quatCompose(xx + 75, xx + 444, xx + 448);

  pm_math_quatCompose(xx + 50, xx + 448, xx + 452);

  pm_math_quatCompose(xx + 35, xx + 452, xx + 456);

  pm_math_quatCompose(xx + 17, xx + 456, xx + 460);

  xx[464] = xx[80] * (xx[457] * xx[459] - xx[456] * xx[458]);

  xx[465] = (xx[456] * xx[457] + xx[458] * xx[459]) * xx[80];

  xx[466] = xx[22] - (xx[457] * xx[457] + xx[458] * xx[458]) * xx[80];

  pm_math_cross3(xx + 464, xx + 84, xx + 456);

  pm_math_quatXform(xx + 460, xx + 456, xx + 464);

  xx[314] = 0.1412410329922711;

  xx[327] = 3.881762117297072e-12;

  xx[401] = 3.80025733104361e-12;

  xx[456] = xx[327];

  xx[457] = - xx[401];

  xx[458] = 3.999999998874377e-3;

  pm_math_quatXform(xx + 444, xx + 456, xx + 459);

  xx[405] = xx[314] + xx[459];

  xx[462] = 0.05221615474387407;

  xx[459] = xx[462] - xx[461];

  xx[467] = - xx[405];

  xx[468] = - xx[460];

  xx[469] = xx[459];

  pm_math_quatXform(xx + 75, xx + 467, xx + 470);

  xx[461] = xx[470] - xx[107];

  xx[463] = xx[471] + xx[109];

  xx[470] = xx[472] - xx[101];

  xx[471] = xx[461];

  xx[472] = xx[463];

  xx[473] = xx[470];

  pm_math_quatXform(xx + 50, xx + 471, xx + 474);

  xx[471] = xx[474] + xx[121];

  xx[472] = xx[475] + xx[124];

  xx[473] = xx[476] + xx[116];

  pm_math_quatXform(xx + 35, xx + 471, xx + 474);

  xx[477] = xx[475] + xx[133];

  xx[475] = xx[474] + xx[132];

  xx[474] = xx[477] * xx[10] - xx[475] * xx[8];

  xx[476] = xx[80] * xx[10] * xx[474] - (xx[477] - xx[137]) - xx[135];

  xx[477] = xx[475] + xx[80] * xx[8] * xx[474] + xx[120] - xx[131];

  xx[474] = xx[15] * xx[477];

  xx[475] = xx[15] * xx[476];

  xx[478] = xx[3] * xx[477] - xx[476] * xx[7];

  xx[479] = - xx[474];

  xx[480] = xx[475];

  xx[481] = xx[478];

  pm_math_cross3(xx + 139, xx + 479, xx + 482);

  pm_math_quatCompose(xx + 153, xx + 452, xx + 485);

  xx[479] = xx[4] * xx[455];

  xx[480] = xx[4] * xx[453] + xx[454];

  xx[489] = xx[479];

  xx[490] = xx[455];

  xx[491] = - xx[480];

  pm_math_cross3(xx + 453, xx + 489, xx + 492);

  xx[481] = xx[452] * xx[455];

  xx[489] = xx[22] + (xx[492] - xx[452] * xx[479]) * xx[80];

  xx[490] = xx[80] * (xx[493] - xx[481]) - xx[4];

  xx[491] = xx[80] * (xx[494] + xx[452] * xx[480]);

  pm_math_cross3(xx + 489, xx + 84, xx + 492);

  pm_math_quatXform(xx + 485, xx + 492, xx + 489);

  xx[480] = - (xx[473] * xx[4]);

  xx[492] = xx[480];

  xx[493] = - xx[473];

  xx[494] = xx[472] + xx[471] * xx[4];

  pm_math_quatXform(xx + 35, xx + 492, xx + 495);

  xx[492] = xx[495] + xx[170];

  xx[493] = xx[496] + xx[171];

  xx[494] = xx[497] + xx[172];

  pm_math_quatXform(xx + 149, xx + 492, xx + 495);

  xx[492] = xx[453] - xx[4] * xx[454];

  xx[498] = - xx[455];

  xx[499] = xx[479];

  xx[500] = xx[492];

  pm_math_cross3(xx + 453, xx + 498, xx + 501);

  xx[498] = xx[4] + (xx[481] + xx[501]) * xx[80];

  xx[499] = xx[22] + xx[80] * (xx[502] - xx[4] * xx[481]);

  xx[500] = xx[80] * (xx[503] - xx[452] * xx[492]);

  pm_math_cross3(xx + 498, xx + 84, xx + 492);

  pm_math_quatXform(xx + 485, xx + 492, xx + 498);

  xx[492] = xx[473];

  xx[493] = xx[480];

  xx[494] = xx[472] * xx[4] - xx[471];

  pm_math_quatXform(xx + 35, xx + 492, xx + 479);

  xx[492] = xx[479] + xx[182];

  xx[493] = xx[480] + xx[183];

  xx[494] = xx[481] + xx[184];

  pm_math_quatXform(xx + 149, xx + 492, xx + 479);

  xx[492] = xx[80] * (xx[453] * xx[455] - xx[452] * xx[454]);

  xx[493] = (xx[452] * xx[453] + xx[454] * xx[455]) * xx[80];

  xx[494] = xx[22] - (xx[453] * xx[453] + xx[454] * xx[454]) * xx[80];

  pm_math_cross3(xx + 492, xx + 84, xx + 452);

  pm_math_quatXform(xx + 485, xx + 452, xx + 492);

  xx[452] = xx[471] * xx[33];

  xx[453] = xx[472] * xx[33];

  xx[454] = xx[471] * xx[23] + xx[31] * xx[472];

  xx[485] = xx[452];

  xx[486] = xx[453];

  xx[487] = - xx[454];

  pm_math_cross3(xx + 68, xx + 485, xx + 501);

  xx[485] = xx[80] * (xx[501] + xx[452] * xx[27]) + xx[34] - xx[472] - xx[119];

  xx[486] = xx[471] + xx[80] * (xx[502] + xx[453] * xx[27]) + xx[16] + xx[117];

  xx[487] = (xx[503] - xx[27] * xx[454]) * xx[80] + xx[30];

  pm_math_quatXform(xx + 149, xx + 485, xx + 452);

  pm_math_quatCompose(xx + 157, xx + 448, xx + 485);

  xx[455] = xx[450] * xx[450];

  xx[471] = xx[451] * xx[451];

  xx[472] = xx[449] * xx[450];

  xx[473] = xx[448] * xx[451];

  xx[501] = xx[448] * xx[450];

  xx[502] = xx[449] * xx[451];

  xx[503] = xx[22] - (xx[455] + xx[471]) * xx[80];

  xx[504] = xx[80] * (xx[472] - xx[473]);

  xx[505] = (xx[501] + xx[502]) * xx[80];

  pm_math_cross3(xx + 503, xx + 84, xx + 506);

  pm_math_quatXform(xx + 485, xx + 506, xx + 503);

  xx[506] = xx[46] * xx[463];

  xx[507] = xx[48] * xx[470];

  xx[508] = xx[506] + xx[507];

  xx[509] = xx[463] * xx[39];

  xx[510] = xx[470] * xx[39];

  xx[511] = - xx[508];

  xx[512] = - xx[509];

  xx[513] = - xx[510];

  pm_math_cross3(xx + 198, xx + 511, xx + 514);

  xx[511] = xx[80] * (xx[514] - xx[508] * xx[43]) + xx[207];

  xx[512] = xx[80] * (xx[515] - xx[509] * xx[43]) + xx[201] - xx[470] - xx[74];

  xx[513] = xx[463] + xx[80] * (xx[516] - xx[510] * xx[43]) + xx[202] - xx[73];

  pm_math_quatXform(xx + 153, xx + 511, xx + 508);

  xx[511] = xx[449] * xx[449];

  xx[512] = xx[450] * xx[451];

  xx[450] = xx[448] * xx[449];

  xx[513] = (xx[473] + xx[472]) * xx[80];

  xx[514] = xx[22] - (xx[471] + xx[511]) * xx[80];

  xx[515] = xx[80] * (xx[512] - xx[450]);

  pm_math_cross3(xx + 513, xx + 84, xx + 471);

  pm_math_quatXform(xx + 485, xx + 471, xx + 513);

  xx[448] = xx[46] * xx[461];

  xx[449] = xx[461] * xx[39];

  xx[451] = xx[449] - xx[507];

  xx[471] = xx[46] * xx[470];

  xx[516] = xx[448];

  xx[517] = xx[451];

  xx[518] = xx[471];

  pm_math_cross3(xx + 198, xx + 516, xx + 519);

  xx[516] = xx[470] + (xx[448] * xx[43] + xx[519]) * xx[80] + xx[166] + xx[74];

  xx[517] = (xx[43] * xx[451] + xx[520]) * xx[80] + xx[58];

  xx[518] = (xx[471] * xx[43] + xx[521]) * xx[80] + xx[61] - xx[461] - xx[72];

  pm_math_quatXform(xx + 153, xx + 516, xx + 470);

  xx[516] = xx[80] * (xx[502] - xx[501]);

  xx[517] = (xx[450] + xx[512]) * xx[80];

  xx[518] = xx[22] - (xx[511] + xx[455]) * xx[80];

  pm_math_cross3(xx + 516, xx + 84, xx + 519);

  pm_math_quatXform(xx + 485, xx + 519, xx + 516);

  xx[448] = xx[48] * xx[461];

  xx[450] = xx[48] * xx[463];

  xx[451] = xx[449] - xx[506];

  xx[485] = xx[448];

  xx[486] = xx[450];

  xx[487] = xx[451];

  pm_math_cross3(xx + 198, xx + 485, xx + 519);

  xx[485] = (xx[448] * xx[43] + xx[519]) * xx[80] + xx[59] - xx[463] + xx[73];

  xx[486] = xx[461] + (xx[450] * xx[43] + xx[520]) * xx[80] + xx[11] + xx[72];

  xx[487] = (xx[43] * xx[451] + xx[521]) * xx[80] + xx[47];

  pm_math_quatXform(xx + 153, xx + 485, xx + 448);

  pm_math_quatCompose(xx + 191, xx + 444, xx + 485);

  xx[444] = xx[323];

  xx[445] = xx[369];

  xx[446] = xx[399];

  xx[369] = xx[400] * xx[63];

  xx[447] = xx[63] * xx[323] - xx[57] * xx[399];

  xx[451] = xx[400] * xx[57];

  xx[519] = xx[369];

  xx[520] = xx[447];

  xx[521] = - xx[451];

  pm_math_cross3(xx + 444, xx + 519, xx + 522);

  xx[519] = xx[80] * (xx[522] + xx[378] * xx[369]) - xx[57];

  xx[520] = xx[80] * (xx[523] + xx[378] * xx[447]);

  xx[521] = (xx[524] - xx[378] * xx[451]) * xx[80] - xx[63];

  pm_math_cross3(xx + 519, xx + 84, xx + 522);

  pm_math_quatXform(xx + 485, xx + 522, xx + 519);

  xx[522] = - (xx[63] * xx[460]);

  xx[523] = xx[63] * xx[405] + xx[57] * xx[459];

  xx[524] = xx[57] * xx[460];

  pm_math_quatXform(xx + 75, xx + 522, xx + 459);

  xx[522] = xx[459] + xx[93];

  xx[523] = xx[460] + xx[110] - xx[67];

  xx[524] = xx[461] - xx[111];

  pm_math_quatXform(xx + 157, xx + 522, xx + 459);

  xx[369] = xx[72] * xx[488];

  xx[405] = xx[72] * xx[486] - xx[73] * xx[487];

  xx[522] = - xx[369];

  xx[523] = xx[73] * xx[488];

  xx[524] = xx[405];

  pm_math_cross3(xx + 486, xx + 522, xx + 525);

  xx[447] = xx[327] * xx[399];

  xx[451] = xx[401] * xx[399];

  xx[399] = xx[327] * xx[323] + xx[400] * xx[401];

  xx[522] = - xx[447];

  xx[523] = xx[451];

  xx[524] = xx[399];

  pm_math_cross3(xx + 444, xx + 522, xx + 528);

  xx[444] = xx[401] + xx[80] * (xx[528] + xx[378] * xx[447]);

  xx[445] = xx[327] + (xx[529] - xx[378] * xx[451]) * xx[80];

  xx[446] = (xx[530] - xx[378] * xx[399]) * xx[80];

  pm_math_quatXform(xx + 191, xx + 444, xx + 522);

  xx[323] = xx[2] * state[77];

  xx[378] = cos(xx[323]);

  xx[399] = 0.6324445710612965;

  xx[400] = xx[2] * state[75];

  xx[444] = cos(xx[400]);

  xx[445] = 0.6324396579890005;

  xx[446] = sin(xx[400]);

  xx[400] = xx[399] * xx[444] + xx[445] * xx[446];

  xx[447] = xx[378] * xx[400];

  xx[451] = xx[399] * xx[446] - xx[445] * xx[444];

  xx[455] = sin(xx[323]);

  xx[323] = xx[451] * xx[455];

  xx[463] = 0.3162553791961485;

  xx[473] = 0.3162538200043588;

  xx[501] = xx[463] * xx[444] - xx[473] * xx[446];

  xx[502] = xx[473] * xx[444] + xx[463] * xx[446];

  xx[444] = - (xx[501] * xx[378] - xx[455] * xx[502]);

  xx[446] = xx[501] * xx[455] + xx[378] * xx[502];

  xx[506] = xx[455] * xx[400] + xx[451] * xx[378];

  xx[528] = xx[447] - xx[323];

  xx[529] = xx[444];

  xx[530] = xx[446];

  xx[531] = xx[506];

  xx[507] = xx[22] / sqrt(state[79] * state[79] + state[80] * state[80] + state

    [81] * state[81] + state[82] * state[82]);

  xx[511] = xx[507] * state[82];

  xx[512] = xx[507] * state[79];

  xx[532] = xx[21] * xx[511] - xx[25] * xx[512];

  xx[533] = xx[507] * state[81];

  xx[534] = xx[507] * state[80];

  xx[507] = xx[21] * xx[533] + xx[25] * xx[534];

  xx[535] = - xx[507];

  xx[536] = xx[25] * xx[533] - xx[21] * xx[534];

  xx[537] = - xx[536];

  xx[538] = xx[21] * xx[512] + xx[25] * xx[511];

  xx[539] = - xx[538];

  xx[540] = xx[532];

  xx[541] = xx[535];

  xx[542] = xx[537];

  xx[543] = xx[539];

  pm_math_quatCompose(xx + 528, xx + 540, xx + 544);

  xx[528] = (xx[536] * xx[532] + xx[538] * xx[507]) * xx[80];

  xx[529] = xx[80] * (xx[536] * xx[538] - xx[507] * xx[532]);

  xx[530] = xx[22] - (xx[507] * xx[507] + xx[536] * xx[536]) * xx[80];

  pm_math_cross3(xx + 528, xx + 267, xx + 548);

  pm_math_quatXform(xx + 544, xx + 548, xx + 528);

  pm_math_quatXform(xx + 540, xx + 126, xx + 544);

  xx[531] = xx[545] * xx[455] - xx[378] * xx[544];

  xx[547] = 5.157931604049537e-12;

  xx[548] = 9.862118968695376e-13;

  xx[549] = xx[547] * xx[378] + xx[548] * xx[455];

  xx[550] = xx[80] * xx[455] * xx[531] - (xx[545] - xx[80] * xx[549] * xx[455])

    - xx[548];

  xx[551] = - xx[502];

  xx[552] = xx[400];

  xx[553] = xx[451];

  xx[554] = xx[551];

  xx[555] = xx[544] + xx[80] * xx[378] * xx[531] + xx[80] * xx[549] * xx[378] -

    xx[547];

  xx[531] = xx[555] * xx[502];

  xx[549] = xx[550] * xx[502];

  xx[556] = xx[555] * xx[400] - xx[451] * xx[550];

  xx[557] = xx[531];

  xx[558] = - xx[549];

  xx[559] = xx[556];

  pm_math_cross3(xx + 552, xx + 557, xx + 560);

  xx[563] = - (xx[323] - xx[447]);

  xx[564] = xx[444];

  xx[565] = xx[446];

  xx[566] = xx[506];

  pm_math_quatCompose(xx + 563, xx + 540, xx + 567);

  pm_math_quatXform(xx + 567, xx + 280, xx + 557);

  pm_math_quatXform(xx + 540, xx + 167, xx + 571);

  pm_math_quatXform(xx + 563, xx + 571, xx + 574);

  pm_math_quatXform(xx + 567, xx + 297, xx + 571);

  pm_math_quatXform(xx + 540, xx + 176, xx + 577);

  pm_math_quatXform(xx + 563, xx + 577, xx + 540);

  xx[323] = xx[102] * xx[570];

  xx[444] = xx[102] * xx[568] + xx[123] * xx[569];

  xx[577] = - xx[323];

  xx[578] = - (xx[123] * xx[570]);

  xx[579] = xx[444];

  pm_math_cross3(xx + 568, xx + 577, xx + 580);

  xx[577] = xx[535];

  xx[578] = xx[537];

  xx[579] = xx[539];

  xx[446] = xx[117] * xx[538];

  xx[447] = xx[119] * xx[538];

  xx[506] = xx[117] * xx[507] + xx[536] * xx[119];

  xx[535] = xx[446];

  xx[536] = xx[447];

  xx[537] = - xx[506];

  pm_math_cross3(xx + 577, xx + 535, xx + 583);

  xx[535] = xx[80] * (xx[583] + xx[446] * xx[532]) - xx[119];

  xx[536] = xx[117] + (xx[447] * xx[532] + xx[584]) * xx[80];

  xx[537] = (xx[585] - xx[506] * xx[532]) * xx[80];

  pm_math_quatXform(xx + 563, xx + 535, xx + 577);

  xx[446] = xx[2] * state[49];

  xx[447] = cos(xx[446]);

  xx[506] = xx[312] * xx[447];

  xx[507] = sin(xx[446]);

  xx[446] = xx[312] * xx[507];

  xx[532] = xx[506] + xx[446];

  xx[535] = xx[379] * xx[447];

  xx[447] = xx[379] * xx[507];

  xx[507] = xx[535] - xx[447];

  xx[536] = xx[535] + xx[447];

  xx[447] = xx[506] - xx[446];

  xx[583] = xx[532];

  xx[584] = xx[507];

  xx[585] = xx[536];

  xx[586] = xx[447];

  pm_math_quatCompose(xx + 75, xx + 583, xx + 587);

  pm_math_quatCompose(xx + 50, xx + 587, xx + 591);

  pm_math_quatCompose(xx + 35, xx + 591, xx + 595);

  pm_math_quatCompose(xx + 17, xx + 595, xx + 599);

  xx[537] = xx[80] * (xx[596] * xx[598] - xx[595] * xx[597]);

  xx[538] = (xx[595] * xx[596] + xx[597] * xx[598]) * xx[80];

  xx[539] = xx[22] - (xx[596] * xx[596] + xx[597] * xx[597]) * xx[80];

  pm_math_cross3(xx + 537, xx + 84, xx + 595);

  pm_math_quatXform(xx + 599, xx + 595, xx + 537);

  xx[446] = 0.1158410329922713;

  xx[506] = 5.998698970888227e-12;

  xx[535] = 6.30935626036444e-12;

  xx[595] = - xx[506];

  xx[596] = - xx[535];

  xx[597] = 4.000000001735564e-3;

  pm_math_quatXform(xx + 583, xx + 595, xx + 598);

  xx[543] = xx[446] + xx[598];

  xx[601] = 0.09621024525612379;

  xx[598] = xx[601] - xx[600];

  xx[602] = - xx[543];

  xx[603] = - xx[599];

  xx[604] = xx[598];

  pm_math_quatXform(xx + 75, xx + 602, xx + 605);

  xx[600] = xx[605] - xx[107];

  xx[608] = xx[606] + xx[109];

  xx[605] = xx[607] - xx[101];

  xx[609] = xx[600];

  xx[610] = xx[608];

  xx[611] = xx[605];

  pm_math_quatXform(xx + 50, xx + 609, xx + 612);

  xx[606] = xx[612] + xx[121];

  xx[607] = xx[613] + xx[124];

  xx[609] = xx[614] + xx[116];

  xx[610] = xx[606];

  xx[611] = xx[607];

  xx[612] = xx[609];

  pm_math_quatXform(xx + 35, xx + 610, xx + 613);

  xx[610] = xx[614] + xx[133];

  xx[611] = xx[613] + xx[132];

  xx[612] = xx[610] * xx[10] - xx[611] * xx[8];

  xx[613] = xx[80] * xx[10] * xx[612] - (xx[610] - xx[137]) - xx[135];

  xx[610] = xx[611] + xx[80] * xx[8] * xx[612] + xx[120] - xx[131];

  xx[611] = xx[15] * xx[610];

  xx[612] = xx[15] * xx[613];

  xx[614] = xx[3] * xx[610] - xx[613] * xx[7];

  xx[615] = - xx[611];

  xx[616] = xx[612];

  xx[617] = xx[614];

  pm_math_cross3(xx + 139, xx + 615, xx + 618);

  pm_math_quatCompose(xx + 153, xx + 591, xx + 621);

  xx[615] = xx[4] * xx[594];

  xx[616] = xx[4] * xx[592] + xx[593];

  xx[625] = xx[615];

  xx[626] = xx[594];

  xx[627] = - xx[616];

  pm_math_cross3(xx + 592, xx + 625, xx + 628);

  xx[617] = xx[591] * xx[594];

  xx[625] = xx[22] + (xx[628] - xx[591] * xx[615]) * xx[80];

  xx[626] = xx[80] * (xx[629] - xx[617]) - xx[4];

  xx[627] = xx[80] * (xx[630] + xx[591] * xx[616]);

  pm_math_cross3(xx + 625, xx + 84, xx + 628);

  pm_math_quatXform(xx + 621, xx + 628, xx + 625);

  xx[616] = - (xx[609] * xx[4]);

  xx[628] = xx[616];

  xx[629] = - xx[609];

  xx[630] = xx[607] + xx[606] * xx[4];

  pm_math_quatXform(xx + 35, xx + 628, xx + 631);

  xx[628] = xx[631] + xx[170];

  xx[629] = xx[632] + xx[171];

  xx[630] = xx[633] + xx[172];

  pm_math_quatXform(xx + 149, xx + 628, xx + 631);

  xx[628] = xx[592] - xx[4] * xx[593];

  xx[634] = - xx[594];

  xx[635] = xx[615];

  xx[636] = xx[628];

  pm_math_cross3(xx + 592, xx + 634, xx + 637);

  xx[634] = xx[4] + (xx[617] + xx[637]) * xx[80];

  xx[635] = xx[22] + xx[80] * (xx[638] - xx[4] * xx[617]);

  xx[636] = xx[80] * (xx[639] - xx[591] * xx[628]);

  pm_math_cross3(xx + 634, xx + 84, xx + 628);

  pm_math_quatXform(xx + 621, xx + 628, xx + 634);

  xx[628] = xx[609];

  xx[629] = xx[616];

  xx[630] = xx[607] * xx[4] - xx[606];

  pm_math_quatXform(xx + 35, xx + 628, xx + 615);

  xx[628] = xx[615] + xx[182];

  xx[629] = xx[616] + xx[183];

  xx[630] = xx[617] + xx[184];

  pm_math_quatXform(xx + 149, xx + 628, xx + 615);

  xx[628] = xx[80] * (xx[592] * xx[594] - xx[591] * xx[593]);

  xx[629] = (xx[591] * xx[592] + xx[593] * xx[594]) * xx[80];

  xx[630] = xx[22] - (xx[592] * xx[592] + xx[593] * xx[593]) * xx[80];

  pm_math_cross3(xx + 628, xx + 84, xx + 591);

  pm_math_quatXform(xx + 621, xx + 591, xx + 628);

  xx[591] = xx[606] * xx[33];

  xx[592] = xx[607] * xx[33];

  xx[593] = xx[606] * xx[23] + xx[31] * xx[607];

  xx[621] = xx[591];

  xx[622] = xx[592];

  xx[623] = - xx[593];

  pm_math_cross3(xx + 68, xx + 621, xx + 637);

  xx[621] = xx[80] * (xx[637] + xx[591] * xx[27]) + xx[34] - xx[607] - xx[119];

  xx[622] = xx[606] + xx[80] * (xx[638] + xx[592] * xx[27]) + xx[16] + xx[117];

  xx[623] = (xx[639] - xx[27] * xx[593]) * xx[80] + xx[30];

  pm_math_quatXform(xx + 149, xx + 621, xx + 591);

  pm_math_quatCompose(xx + 157, xx + 587, xx + 621);

  xx[594] = xx[589] * xx[589];

  xx[606] = xx[590] * xx[590];

  xx[607] = xx[588] * xx[589];

  xx[609] = xx[587] * xx[590];

  xx[637] = xx[587] * xx[589];

  xx[638] = xx[588] * xx[590];

  xx[639] = xx[22] - (xx[594] + xx[606]) * xx[80];

  xx[640] = xx[80] * (xx[607] - xx[609]);

  xx[641] = (xx[637] + xx[638]) * xx[80];

  pm_math_cross3(xx + 639, xx + 84, xx + 642);

  pm_math_quatXform(xx + 621, xx + 642, xx + 639);

  xx[642] = xx[46] * xx[608];

  xx[643] = xx[48] * xx[605];

  xx[644] = xx[642] + xx[643];

  xx[645] = xx[608] * xx[39];

  xx[646] = xx[605] * xx[39];

  xx[647] = - xx[644];

  xx[648] = - xx[645];

  xx[649] = - xx[646];

  pm_math_cross3(xx + 198, xx + 647, xx + 650);

  xx[647] = xx[80] * (xx[650] - xx[644] * xx[43]) + xx[207];

  xx[648] = xx[80] * (xx[651] - xx[645] * xx[43]) + xx[201] - xx[605] - xx[74];

  xx[649] = xx[608] + xx[80] * (xx[652] - xx[646] * xx[43]) + xx[202] - xx[73];

  pm_math_quatXform(xx + 153, xx + 647, xx + 644);

  xx[647] = xx[588] * xx[588];

  xx[648] = xx[589] * xx[590];

  xx[589] = xx[587] * xx[588];

  xx[649] = (xx[609] + xx[607]) * xx[80];

  xx[650] = xx[22] - (xx[606] + xx[647]) * xx[80];

  xx[651] = xx[80] * (xx[648] - xx[589]);

  pm_math_cross3(xx + 649, xx + 84, xx + 652);

  pm_math_quatXform(xx + 621, xx + 652, xx + 649);

  xx[587] = xx[46] * xx[600];

  xx[588] = xx[600] * xx[39];

  xx[590] = xx[588] - xx[643];

  xx[606] = xx[46] * xx[605];

  xx[652] = xx[587];

  xx[653] = xx[590];

  xx[654] = xx[606];

  pm_math_cross3(xx + 198, xx + 652, xx + 655);

  xx[652] = xx[605] + (xx[587] * xx[43] + xx[655]) * xx[80] + xx[166] + xx[74];

  xx[653] = (xx[43] * xx[590] + xx[656]) * xx[80] + xx[58];

  xx[654] = (xx[606] * xx[43] + xx[657]) * xx[80] + xx[61] - xx[600] - xx[72];

  pm_math_quatXform(xx + 153, xx + 652, xx + 605);

  xx[652] = xx[80] * (xx[638] - xx[637]);

  xx[653] = (xx[589] + xx[648]) * xx[80];

  xx[654] = xx[22] - (xx[647] + xx[594]) * xx[80];

  pm_math_cross3(xx + 652, xx + 84, xx + 655);

  pm_math_quatXform(xx + 621, xx + 655, xx + 652);

  xx[587] = xx[48] * xx[600];

  xx[589] = xx[48] * xx[608];

  xx[590] = xx[588] - xx[642];

  xx[621] = xx[587];

  xx[622] = xx[589];

  xx[623] = xx[590];

  pm_math_cross3(xx + 198, xx + 621, xx + 655);

  xx[621] = (xx[587] * xx[43] + xx[655]) * xx[80] + xx[59] - xx[608] + xx[73];

  xx[622] = xx[600] + (xx[589] * xx[43] + xx[656]) * xx[80] + xx[11] + xx[72];

  xx[623] = (xx[43] * xx[590] + xx[657]) * xx[80] + xx[47];

  pm_math_quatXform(xx + 153, xx + 621, xx + 587);

  pm_math_quatCompose(xx + 191, xx + 583, xx + 621);

  xx[583] = xx[507];

  xx[584] = xx[536];

  xx[585] = xx[447];

  xx[586] = xx[536] * xx[63];

  xx[590] = xx[63] * xx[507] - xx[57] * xx[447];

  xx[594] = xx[536] * xx[57];

  xx[655] = - xx[586];

  xx[656] = xx[590];

  xx[657] = xx[594];

  pm_math_cross3(xx + 583, xx + 655, xx + 658);

  xx[655] = xx[80] * (xx[658] + xx[532] * xx[586]) - xx[57];

  xx[656] = xx[80] * (xx[659] - xx[532] * xx[590]);

  xx[657] = (xx[660] - xx[532] * xx[594]) * xx[80] - xx[63];

  pm_math_cross3(xx + 655, xx + 84, xx + 658);

  pm_math_quatXform(xx + 621, xx + 658, xx + 655);

  xx[658] = - (xx[63] * xx[599]);

  xx[659] = xx[63] * xx[543] + xx[57] * xx[598];

  xx[660] = xx[57] * xx[599];

  pm_math_quatXform(xx + 75, xx + 658, xx + 598);

  xx[658] = xx[598] + xx[93];

  xx[659] = xx[599] + xx[110] - xx[67];

  xx[660] = xx[600] - xx[111];

  pm_math_quatXform(xx + 157, xx + 658, xx + 598);

  xx[543] = xx[72] * xx[624];

  xx[586] = xx[72] * xx[622] - xx[73] * xx[623];

  xx[658] = - xx[543];

  xx[659] = xx[73] * xx[624];

  xx[660] = xx[586];

  pm_math_cross3(xx + 622, xx + 658, xx + 661);

  xx[590] = xx[506] * xx[447];

  xx[594] = xx[535] * xx[447];

  xx[447] = xx[506] * xx[507] + xx[536] * xx[535];

  xx[658] = xx[590];

  xx[659] = xx[594];

  xx[660] = - xx[447];

  pm_math_cross3(xx + 583, xx + 658, xx + 664);

  xx[583] = xx[535] + xx[80] * (xx[664] + xx[532] * xx[590]);

  xx[584] = (xx[532] * xx[594] + xx[665]) * xx[80] - xx[506];

  xx[585] = (xx[666] - xx[532] * xx[447]) * xx[80];

  pm_math_quatXform(xx + 191, xx + 583, xx + 658);

  xx[447] = xx[2] * state[88];

  xx[507] = cos(xx[447]);

  xx[532] = 0.6324445710612973;

  xx[536] = xx[2] * state[86];

  xx[583] = cos(xx[536]);

  xx[584] = 0.6324396579890008;

  xx[585] = sin(xx[536]);

  xx[536] = xx[532] * xx[583] + xx[584] * xx[585];

  xx[590] = xx[507] * xx[536];

  xx[594] = xx[584] * xx[583] - xx[532] * xx[585];

  xx[608] = sin(xx[447]);

  xx[447] = xx[594] * xx[608];

  xx[609] = 0.3162538200043575;

  xx[637] = 0.3162553791961478;

  xx[638] = xx[609] * xx[585] - xx[637] * xx[583];

  xx[642] = xx[609] * xx[583] + xx[637] * xx[585];

  xx[583] = - (xx[638] * xx[507] + xx[608] * xx[642]);

  xx[585] = xx[638] * xx[608] - xx[507] * xx[642];

  xx[643] = xx[594] * xx[507] - xx[608] * xx[536];

  xx[664] = - (xx[590] + xx[447]);

  xx[665] = xx[583];

  xx[666] = xx[585];

  xx[667] = xx[643];

  xx[647] = xx[22] / sqrt(state[90] * state[90] + state[91] * state[91] + state

    [92] * state[92] + state[93] * state[93]);

  xx[648] = xx[647] * state[93];

  xx[668] = xx[647] * state[90];

  xx[669] = xx[21] * xx[648] - xx[25] * xx[668];

  xx[670] = xx[647] * state[92];

  xx[671] = xx[647] * state[91];

  xx[647] = xx[21] * xx[670] + xx[25] * xx[671];

  xx[672] = - xx[647];

  xx[673] = xx[25] * xx[670] - xx[21] * xx[671];

  xx[674] = - xx[673];

  xx[675] = xx[21] * xx[668] + xx[25] * xx[648];

  xx[676] = - xx[675];

  xx[677] = xx[669];

  xx[678] = xx[672];

  xx[679] = xx[674];

  xx[680] = xx[676];

  pm_math_quatCompose(xx + 664, xx + 677, xx + 681);

  xx[664] = (xx[673] * xx[669] + xx[647] * xx[675]) * xx[80];

  xx[665] = xx[80] * (xx[673] * xx[675] - xx[669] * xx[647]);

  xx[666] = xx[22] - (xx[647] * xx[647] + xx[673] * xx[673]) * xx[80];

  pm_math_cross3(xx + 664, xx + 267, xx + 685);

  pm_math_quatXform(xx + 681, xx + 685, xx + 664);

  pm_math_quatXform(xx + 677, xx + 126, xx + 681);

  xx[667] = xx[682] * xx[608] - xx[507] * xx[681];

  xx[684] = 1.600627075326599e-13;

  xx[685] = 8.497959654019115e-12;

  xx[686] = xx[684] * xx[507] + xx[685] * xx[608];

  xx[687] = xx[80] * xx[608] * xx[667] - (xx[682] - xx[80] * xx[686] * xx[608])

    - xx[685];

  xx[688] = - xx[536];

  xx[689] = xx[688];

  xx[690] = xx[594];

  xx[691] = xx[642];

  xx[692] = xx[681] + xx[80] * xx[507] * xx[667] + xx[80] * xx[686] * xx[507] -

    xx[684];

  xx[667] = xx[692] * xx[642];

  xx[686] = xx[687] * xx[642];

  xx[693] = xx[692] * xx[536] + xx[594] * xx[687];

  xx[694] = - xx[667];

  xx[695] = xx[686];

  xx[696] = - xx[693];

  pm_math_cross3(xx + 689, xx + 694, xx + 697);

  xx[700] = - (xx[447] + xx[590]);

  xx[701] = xx[583];

  xx[702] = xx[585];

  xx[703] = xx[643];

  pm_math_quatCompose(xx + 700, xx + 677, xx + 704);

  pm_math_quatXform(xx + 704, xx + 280, xx + 694);

  pm_math_quatXform(xx + 677, xx + 167, xx + 708);

  pm_math_quatXform(xx + 700, xx + 708, xx + 711);

  pm_math_quatXform(xx + 704, xx + 297, xx + 708);

  pm_math_quatXform(xx + 677, xx + 176, xx + 714);

  pm_math_quatXform(xx + 700, xx + 714, xx + 677);

  xx[447] = xx[102] * xx[707];

  xx[583] = xx[102] * xx[705] + xx[123] * xx[706];

  xx[714] = - xx[447];

  xx[715] = - (xx[123] * xx[707]);

  xx[716] = xx[583];

  pm_math_cross3(xx + 705, xx + 714, xx + 717);

  xx[714] = xx[672];

  xx[715] = xx[674];

  xx[716] = xx[676];

  xx[585] = xx[117] * xx[675];

  xx[590] = xx[119] * xx[675];

  xx[643] = xx[117] * xx[647] + xx[673] * xx[119];

  xx[672] = xx[585];

  xx[673] = xx[590];

  xx[674] = - xx[643];

  pm_math_cross3(xx + 714, xx + 672, xx + 720);

  xx[672] = xx[80] * (xx[720] + xx[585] * xx[669]) - xx[119];

  xx[673] = xx[117] + (xx[590] * xx[669] + xx[721]) * xx[80];

  xx[674] = (xx[722] - xx[643] * xx[669]) * xx[80];

  pm_math_quatXform(xx + 700, xx + 672, xx + 714);

  xx[585] = xx[2] * state[14];

  xx[590] = cos(xx[585]);

  xx[643] = 0.5901074779979933;

  xx[647] = xx[2] * state[12];

  xx[669] = cos(xx[647]);

  xx[672] = 0.5901036711621462;

  xx[673] = sin(xx[647]);

  xx[647] = xx[643] * xx[669] + xx[672] * xx[673];

  xx[674] = xx[590] * xx[647];

  xx[675] = xx[672] * xx[669] - xx[643] * xx[673];

  xx[676] = sin(xx[585]);

  xx[585] = xx[675] * xx[676];

  xx[680] = 0.3895853754265615;

  xx[720] = 0.389581900177037;

  xx[721] = xx[680] * xx[669] - xx[720] * xx[673];

  xx[722] = xx[720] * xx[669] + xx[680] * xx[673];

  xx[669] = - (xx[721] * xx[590] - xx[676] * xx[722]);

  xx[673] = xx[721] * xx[676] + xx[590] * xx[722];

  xx[723] = xx[675] * xx[590] - xx[676] * xx[647];

  xx[724] = - (xx[674] + xx[585]);

  xx[725] = xx[669];

  xx[726] = xx[673];

  xx[727] = xx[723];

  xx[728] = xx[22] / sqrt(state[16] * state[16] + state[17] * state[17] + state

    [18] * state[18] + state[19] * state[19]);

  xx[729] = xx[728] * state[19];

  xx[730] = xx[728] * state[16];

  xx[731] = xx[21] * xx[729] - xx[25] * xx[730];

  xx[732] = xx[728] * state[18];

  xx[733] = xx[728] * state[17];

  xx[728] = xx[21] * xx[732] + xx[25] * xx[733];

  xx[734] = - xx[728];

  xx[735] = xx[25] * xx[732] - xx[21] * xx[733];

  xx[736] = - xx[735];

  xx[737] = xx[21] * xx[730] + xx[25] * xx[729];

  xx[738] = - xx[737];

  xx[739] = xx[731];

  xx[740] = xx[734];

  xx[741] = xx[736];

  xx[742] = xx[738];

  pm_math_quatCompose(xx + 724, xx + 739, xx + 743);

  xx[724] = (xx[735] * xx[731] + xx[737] * xx[728]) * xx[80];

  xx[725] = xx[80] * (xx[735] * xx[737] - xx[731] * xx[728]);

  xx[726] = xx[22] - (xx[728] * xx[728] + xx[735] * xx[735]) * xx[80];

  pm_math_cross3(xx + 724, xx + 267, xx + 747);

  pm_math_quatXform(xx + 743, xx + 747, xx + 724);

  pm_math_quatXform(xx + 739, xx + 126, xx + 743);

  xx[727] = xx[744] * xx[676] - xx[590] * xx[743];

  xx[746] = 7.748428954013064e-12;

  xx[747] = 5.376764528053357e-12;

  xx[748] = xx[746] * xx[590] - xx[747] * xx[676];

  xx[749] = xx[80] * xx[676] * xx[727] - (xx[744] + xx[80] * xx[748] * xx[676])

    - xx[747];

  xx[750] = - xx[647];

  xx[751] = - xx[722];

  xx[752] = xx[750];

  xx[753] = xx[675];

  xx[754] = xx[751];

  xx[755] = xx[743] + xx[80] * xx[590] * xx[727] - xx[80] * xx[748] * xx[590] +

    xx[746];

  xx[727] = xx[755] * xx[722];

  xx[748] = xx[749] * xx[722];

  xx[756] = xx[755] * xx[647] + xx[675] * xx[749];

  xx[757] = xx[727];

  xx[758] = - xx[748];

  xx[759] = - xx[756];

  pm_math_cross3(xx + 752, xx + 757, xx + 760);

  xx[763] = - (xx[585] + xx[674]);

  xx[764] = xx[669];

  xx[765] = xx[673];

  xx[766] = xx[723];

  pm_math_quatCompose(xx + 763, xx + 739, xx + 767);

  pm_math_quatXform(xx + 767, xx + 280, xx + 757);

  pm_math_quatXform(xx + 739, xx + 167, xx + 771);

  pm_math_quatXform(xx + 763, xx + 771, xx + 774);

  pm_math_quatXform(xx + 767, xx + 297, xx + 771);

  pm_math_quatXform(xx + 739, xx + 176, xx + 777);

  pm_math_quatXform(xx + 763, xx + 777, xx + 739);

  xx[585] = xx[102] * xx[770];

  xx[669] = xx[102] * xx[768] + xx[123] * xx[769];

  xx[777] = - xx[585];

  xx[778] = - (xx[123] * xx[770]);

  xx[779] = xx[669];

  pm_math_cross3(xx + 768, xx + 777, xx + 780);

  xx[777] = xx[734];

  xx[778] = xx[736];

  xx[779] = xx[738];

  xx[673] = xx[117] * xx[737];

  xx[674] = xx[119] * xx[737];

  xx[723] = xx[117] * xx[728] + xx[735] * xx[119];

  xx[734] = xx[673];

  xx[735] = xx[674];

  xx[736] = - xx[723];

  pm_math_cross3(xx + 777, xx + 734, xx + 783);

  xx[734] = xx[80] * (xx[783] + xx[673] * xx[731]) - xx[119];

  xx[735] = xx[117] + (xx[674] * xx[731] + xx[784]) * xx[80];

  xx[736] = (xx[785] - xx[723] * xx[731]) * xx[80];

  pm_math_quatXform(xx + 763, xx + 734, xx + 777);

  xx[673] = xx[2] * state[51];

  xx[674] = cos(xx[673]);

  xx[723] = sin(xx[673]);

  xx[673] = xx[674] * xx[66] + xx[723] * xx[54];

  xx[728] = xx[64] * xx[674] - xx[723] * xx[65];

  xx[731] = xx[674] * xx[65] + xx[64] * xx[723];

  xx[64] = xx[674] * xx[54] - xx[723] * xx[66];

  xx[734] = xx[673];

  xx[735] = xx[728];

  xx[736] = xx[731];

  xx[737] = xx[64];

  pm_math_quatCompose(xx + 50, xx + 734, xx + 783);

  pm_math_quatCompose(xx + 35, xx + 783, xx + 787);

  pm_math_quatCompose(xx + 17, xx + 787, xx + 791);

  xx[17] = xx[80] * (xx[788] * xx[790] - xx[787] * xx[789]);

  xx[18] = (xx[787] * xx[788] + xx[789] * xx[790]) * xx[80];

  xx[19] = xx[22] - (xx[788] * xx[788] + xx[789] * xx[789]) * xx[80];

  pm_math_cross3(xx + 17, xx + 84, xx + 787);

  pm_math_quatXform(xx + 791, xx + 787, xx + 17);

  xx[20] = 0.02540000000000185;

  xx[54] = 6.817225262079063e-12;

  xx[65] = xx[54] * xx[723];

  xx[66] = xx[65] * xx[723];

  xx[738] = 5.61723311615081e-12;

  xx[742] = xx[738] * xx[723];

  xx[787] = xx[674] * xx[742];

  xx[788] = xx[20] - (xx[80] * (xx[66] - xx[787]) - xx[54]);

  xx[789] = xx[674] * xx[65];

  xx[65] = xx[742] * xx[723];

  xx[742] = (xx[789] + xx[65]) * xx[80] - xx[738];

  xx[790] = 0.152426400001803;

  xx[791] = - xx[790];

  xx[792] = xx[788];

  xx[793] = - xx[742];

  xx[794] = xx[791];

  pm_math_quatXform(xx + 75, xx + 792, xx + 795);

  xx[798] = xx[795] - xx[107];

  xx[799] = xx[796] + xx[109];

  xx[795] = xx[797] - xx[101];

  xx[800] = xx[798];

  xx[801] = xx[799];

  xx[802] = xx[795];

  pm_math_quatXform(xx + 50, xx + 800, xx + 803);

  xx[50] = xx[803] + xx[121];

  xx[51] = xx[804] + xx[124];

  xx[52] = xx[805] + xx[116];

  pm_math_quatXform(xx + 35, xx + 50, xx + 800);

  xx[53] = xx[801] + xx[133];

  xx[796] = xx[800] + xx[132];

  xx[797] = xx[53] * xx[10] - xx[796] * xx[8];

  xx[800] = xx[80] * xx[10] * xx[797] - (xx[53] - xx[137]) - xx[135];

  xx[53] = xx[796] + xx[80] * xx[8] * xx[797] + xx[120] - xx[131];

  xx[120] = xx[53] * xx[15];

  xx[137] = xx[800] * xx[15];

  xx[796] = xx[53] * xx[3] - xx[800] * xx[7];

  xx[801] = - xx[120];

  xx[802] = xx[137];

  xx[803] = xx[796];

  pm_math_cross3(xx + 139, xx + 801, xx + 804);

  pm_math_quatCompose(xx + 153, xx + 783, xx + 807);

  xx[797] = xx[4] * xx[786];

  xx[801] = xx[4] * xx[784] + xx[785];

  xx[811] = xx[797];

  xx[812] = xx[786];

  xx[813] = - xx[801];

  pm_math_cross3(xx + 784, xx + 811, xx + 814);

  xx[802] = xx[783] * xx[786];

  xx[811] = xx[22] + (xx[814] - xx[783] * xx[797]) * xx[80];

  xx[812] = xx[80] * (xx[815] - xx[802]) - xx[4];

  xx[813] = xx[80] * (xx[816] + xx[783] * xx[801]);

  pm_math_cross3(xx + 811, xx + 84, xx + 814);

  pm_math_quatXform(xx + 807, xx + 814, xx + 811);

  xx[801] = - (xx[52] * xx[4]);

  xx[814] = xx[801];

  xx[815] = - xx[52];

  xx[816] = xx[51] + xx[50] * xx[4];

  pm_math_quatXform(xx + 35, xx + 814, xx + 817);

  xx[814] = xx[817] + xx[170];

  xx[815] = xx[818] + xx[171];

  xx[816] = xx[819] + xx[172];

  pm_math_quatXform(xx + 149, xx + 814, xx + 170);

  xx[803] = xx[784] - xx[4] * xx[785];

  xx[814] = - xx[786];

  xx[815] = xx[797];

  xx[816] = xx[803];

  pm_math_cross3(xx + 784, xx + 814, xx + 817);

  xx[814] = xx[4] + (xx[802] + xx[817]) * xx[80];

  xx[815] = xx[22] + xx[80] * (xx[818] - xx[4] * xx[802]);

  xx[816] = xx[80] * (xx[819] - xx[783] * xx[803]);

  pm_math_cross3(xx + 814, xx + 84, xx + 817);

  pm_math_quatXform(xx + 807, xx + 817, xx + 814);

  xx[817] = xx[52];

  xx[818] = xx[801];

  xx[819] = xx[51] * xx[4] - xx[50];

  pm_math_quatXform(xx + 35, xx + 817, xx + 801);

  xx[35] = xx[801] + xx[182];

  xx[36] = xx[802] + xx[183];

  xx[37] = xx[803] + xx[184];

  pm_math_quatXform(xx + 149, xx + 35, xx + 182);

  xx[35] = xx[80] * (xx[784] * xx[786] - xx[783] * xx[785]);

  xx[36] = (xx[783] * xx[784] + xx[785] * xx[786]) * xx[80];

  xx[37] = xx[22] - (xx[784] * xx[784] + xx[785] * xx[785]) * xx[80];

  pm_math_cross3(xx + 35, xx + 84, xx + 783);

  pm_math_quatXform(xx + 807, xx + 783, xx + 35);

  xx[38] = xx[50] * xx[33];

  xx[52] = xx[51] * xx[33];

  xx[33] = xx[50] * xx[23] + xx[51] * xx[31];

  xx[783] = xx[38];

  xx[784] = xx[52];

  xx[785] = - xx[33];

  pm_math_cross3(xx + 68, xx + 783, xx + 801);

  xx[68] = xx[80] * (xx[801] + xx[38] * xx[27]) + xx[34] - xx[51] - xx[119];

  xx[69] = xx[50] + xx[80] * (xx[802] + xx[52] * xx[27]) + xx[16] + xx[117];

  xx[70] = (xx[803] - xx[33] * xx[27]) * xx[80] + xx[30];

  pm_math_quatXform(xx + 149, xx + 68, xx + 50);

  pm_math_quatCompose(xx + 157, xx + 734, xx + 783);

  xx[16] = xx[731] * xx[731];

  xx[23] = xx[64] * xx[64];

  xx[27] = xx[731] * xx[728];

  xx[30] = xx[673] * xx[64];

  xx[31] = xx[731] * xx[673];

  xx[33] = xx[728] * xx[64];

  xx[68] = xx[22] - (xx[16] + xx[23]) * xx[80];

  xx[69] = xx[80] * (xx[27] - xx[30]);

  xx[70] = (xx[31] + xx[33]) * xx[80];

  pm_math_cross3(xx + 68, xx + 84, xx + 734);

  pm_math_quatXform(xx + 783, xx + 734, xx + 68);

  xx[34] = xx[799] * xx[46];

  xx[38] = xx[795] * xx[48];

  xx[734] = xx[34] + xx[38];

  xx[735] = xx[799] * xx[39];

  xx[736] = xx[795] * xx[39];

  xx[801] = - xx[734];

  xx[802] = - xx[735];

  xx[803] = - xx[736];

  pm_math_cross3(xx + 198, xx + 801, xx + 807);

  xx[801] = xx[80] * (xx[807] - xx[734] * xx[43]) + xx[207];

  xx[802] = xx[80] * (xx[808] - xx[735] * xx[43]) + xx[201] - xx[795] - xx[74];

  xx[803] = xx[799] + xx[80] * (xx[809] - xx[736] * xx[43]) + xx[202] - xx[73];

  pm_math_quatXform(xx + 153, xx + 801, xx + 734);

  xx[201] = xx[728] * xx[728];

  xx[202] = xx[731] * xx[64];

  xx[64] = xx[673] * xx[728];

  xx[801] = (xx[30] + xx[27]) * xx[80];

  xx[802] = xx[22] - (xx[23] + xx[201]) * xx[80];

  xx[803] = xx[80] * (xx[202] - xx[64]);

  pm_math_cross3(xx + 801, xx + 84, xx + 807);

  pm_math_quatXform(xx + 783, xx + 807, xx + 801);

  xx[23] = xx[798] * xx[46];

  xx[27] = xx[798] * xx[39];

  xx[30] = xx[27] - xx[38];

  xx[38] = xx[795] * xx[46];

  xx[807] = xx[23];

  xx[808] = xx[30];

  xx[809] = xx[38];

  pm_math_cross3(xx + 198, xx + 807, xx + 817);

  xx[807] = xx[795] + (xx[23] * xx[43] + xx[817]) * xx[80] + xx[166] + xx[74];

  xx[808] = (xx[30] * xx[43] + xx[818]) * xx[80] + xx[58];

  xx[809] = (xx[38] * xx[43] + xx[819]) * xx[80] + xx[61] - xx[798] - xx[72];

  pm_math_quatXform(xx + 153, xx + 807, xx + 817);

  xx[807] = xx[80] * (xx[33] - xx[31]);

  xx[808] = (xx[64] + xx[202]) * xx[80];

  xx[809] = xx[22] - (xx[201] + xx[16]) * xx[80];

  pm_math_cross3(xx + 807, xx + 84, xx + 820);

  pm_math_quatXform(xx + 783, xx + 820, xx + 807);

  xx[16] = xx[798] * xx[48];

  xx[23] = xx[799] * xx[48];

  xx[30] = xx[27] - xx[34];

  xx[783] = xx[16];

  xx[784] = xx[23];

  xx[785] = xx[30];

  pm_math_cross3(xx + 198, xx + 783, xx + 820);

  xx[198] = (xx[16] * xx[43] + xx[820]) * xx[80] + xx[59] - xx[799] + xx[73];

  xx[199] = xx[798] + (xx[23] * xx[43] + xx[821]) * xx[80] + xx[11] + xx[72];

  xx[200] = (xx[30] * xx[43] + xx[822]) * xx[80] + xx[47];

  pm_math_quatXform(xx + 153, xx + 198, xx + 46);

  xx[11] = xx[674] * xx[191] + xx[194] * xx[723];

  xx[16] = xx[674] * xx[192] - xx[193] * xx[723];

  xx[23] = xx[674] * xx[193] + xx[192] * xx[723];

  xx[27] = xx[674] * xx[194] - xx[191] * xx[723];

  xx[198] = xx[11];

  xx[199] = xx[16];

  xx[200] = xx[23];

  xx[201] = xx[27];

  xx[30] = xx[57] * xx[723];

  xx[31] = xx[80] * xx[674] * xx[30];

  xx[33] = xx[80] * xx[30] * xx[723] - xx[57];

  xx[783] = xx[74] * xx[31] + xx[55];

  xx[784] = xx[106] + xx[74] * xx[33];

  xx[785] = xx[73] * xx[33] - xx[72] * xx[31];

  pm_math_quatXform(xx + 198, xx + 783, xx + 797);

  xx[30] = 0.1320051346089697;

  xx[783] = - (xx[63] * xx[742]);

  xx[784] = - (xx[63] * xx[788] + xx[30]);

  xx[785] = xx[57] * xx[742];

  pm_math_quatXform(xx + 75, xx + 783, xx + 820);

  xx[75] = xx[820] + xx[93];

  xx[76] = xx[821] + xx[110] - xx[67];

  xx[77] = xx[822] - xx[111];

  pm_math_quatXform(xx + 157, xx + 75, xx + 783);

  xx[75] = xx[16];

  xx[76] = xx[23];

  xx[77] = xx[27];

  xx[31] = xx[72] * xx[27];

  xx[33] = xx[73] * xx[27];

  xx[27] = xx[72] * xx[16] - xx[23] * xx[73];

  xx[820] = - xx[31];

  xx[821] = xx[33];

  xx[822] = xx[27];

  pm_math_cross3(xx + 75, xx + 820, xx + 823);

  xx[16] = xx[738] - xx[80] * (xx[789] + xx[65]);

  xx[23] = xx[54] + (xx[787] - xx[66]) * xx[80];

  xx[34] = xx[194] * xx[23];

  xx[38] = xx[16] * xx[194];

  xx[39] = xx[192] * xx[23] + xx[16] * xx[193];

  xx[64] = xx[34];

  xx[65] = xx[38];

  xx[66] = - xx[39];

  pm_math_cross3(xx + 192, xx + 64, xx + 75);

  xx[826] = xx[0];

  xx[827] = xx[0];

  xx[828] = xx[0];

  xx[829] = xx[0];

  xx[830] = xx[81] + xx[138] + xx[80] * (xx[146] - xx[129] * xx[14]);

  xx[831] = xx[143] + xx[162];

  xx[832] = xx[173] + xx[179];

  xx[833] = xx[185] + xx[188];

  xx[834] = xx[195] + xx[203];

  xx[835] = xx[208] + xx[214];

  xx[836] = xx[211] + xx[217];

  xx[837] = xx[227] + xx[230];

  xx[838] = xx[80] * (xx[236] - xx[6] * xx[71]) + xx[9] + xx[80] * (xx[233] -

    xx[191] * xx[88]) + xx[73];

  xx[839] = xx[0];

  xx[840] = xx[0];

  xx[841] = xx[0];

  xx[842] = xx[0];

  xx[843] = xx[0];

  xx[844] = xx[0];

  xx[845] = xx[0];

  xx[846] = xx[0];

  xx[847] = - (xx[244] + xx[272] + xx[80] * (xx[283] + xx[241] * xx[247]));

  xx[848] = - (xx[294] + xx[300]);

  xx[849] = - (xx[303] + xx[259]);

  xx[850] = - (xx[80] * (xx[309] - xx[290] * xx[94]) + xx[306] - xx[123]);

  xx[851] = xx[0];

  xx[852] = xx[0];

  xx[853] = xx[0];

  xx[854] = xx[0];

  xx[855] = xx[0];

  xx[856] = xx[0];

  xx[857] = xx[0];

  xx[858] = xx[0];

  xx[859] = xx[0];

  xx[860] = xx[0];

  xx[861] = xx[0];

  xx[862] = xx[0];

  xx[863] = xx[82] + xx[136] + (xx[130] * xx[14] + xx[147]) * xx[80];

  xx[864] = xx[144] + xx[163];

  xx[865] = xx[174] + xx[180];

  xx[866] = xx[186] + xx[189];

  xx[867] = xx[196] + xx[204];

  xx[868] = xx[209] + xx[215];

  xx[869] = xx[212] + xx[218];

  xx[870] = xx[228] + xx[231];

  xx[871] = (xx[6] * xx[91] + xx[237]) * xx[80] + xx[32] + (xx[191] * xx[89] +

    xx[234]) * xx[80] + xx[72];

  xx[872] = xx[0];

  xx[873] = xx[0];

  xx[874] = xx[0];

  xx[875] = xx[0];

  xx[876] = xx[0];

  xx[877] = xx[0];

  xx[878] = xx[0];

  xx[879] = xx[0];

  xx[880] = - (xx[245] + xx[278] + (xx[284] - xx[241] * xx[271]) * xx[80]);

  xx[881] = - (xx[295] + xx[301]);

  xx[882] = - (xx[304] + xx[260]);

  xx[883] = - ((xx[310] - xx[123] * xx[290] * xx[293]) * xx[80] + xx[307] + xx

               [102]);

  xx[884] = xx[0];

  xx[885] = xx[0];

  xx[886] = xx[0];

  xx[887] = xx[0];

  xx[888] = xx[0];

  xx[889] = xx[0];

  xx[890] = xx[0];

  xx[891] = xx[0];

  xx[892] = xx[0];

  xx[893] = xx[0];

  xx[894] = xx[0];

  xx[895] = xx[0];

  xx[896] = xx[83] + (xx[14] * xx[142] + xx[148]) * xx[80];

  xx[897] = xx[145] + xx[164];

  xx[898] = xx[175] + xx[181];

  xx[899] = xx[187] + xx[190];

  xx[900] = xx[197] + xx[205];

  xx[901] = xx[210] + xx[216];

  xx[902] = xx[213] + xx[219];

  xx[903] = xx[229] + xx[232];

  xx[904] = (xx[6] * xx[49] + xx[238]) * xx[80] + (xx[191] * xx[92] + xx[235]) *

    xx[80];

  xx[905] = xx[0];

  xx[906] = xx[0];

  xx[907] = xx[0];

  xx[908] = xx[0];

  xx[909] = xx[0];

  xx[910] = xx[0];

  xx[911] = xx[0];

  xx[912] = xx[0];

  xx[913] = - (xx[246] + (xx[285] - xx[241] * xx[279]) * xx[80]);

  xx[914] = - (xx[296] + xx[302]);

  xx[915] = - (xx[305] + xx[261]);

  xx[916] = - ((xx[290] * xx[161] + xx[311]) * xx[80] + xx[308]);

  xx[917] = xx[0];

  xx[918] = xx[0];

  xx[919] = xx[0];

  xx[920] = xx[0];

  xx[921] = xx[0];

  xx[922] = xx[0];

  xx[923] = xx[0];

  xx[924] = xx[0];

  xx[925] = xx[0];

  xx[926] = xx[0];

  xx[927] = xx[0];

  xx[928] = xx[0];

  xx[929] = xx[332] + xx[344] + xx[80] * (xx[349] - xx[342] * xx[14]);

  xx[930] = xx[356] + xx[362];

  xx[931] = xx[365] + xx[346];

  xx[932] = xx[359] + xx[320];

  xx[933] = xx[370] + xx[375];

  xx[934] = xx[380] + xx[335];

  xx[935] = xx[383] + xx[316];

  xx[936] = xx[338] + xx[389];

  xx[937] = xx[0];

  xx[938] = xx[80] * (xx[392] + xx[352] * xx[206]) + xx[386] - xx[73];

  xx[939] = xx[0];

  xx[940] = xx[0];

  xx[941] = xx[0];

  xx[942] = - (xx[395] + xx[412] + xx[80] * (xx[421] - xx[398] * xx[315]));

  xx[943] = - (xx[418] + xx[435]);

  xx[944] = - (xx[432] + xx[402]);

  xx[945] = - (xx[80] * (xx[441] - xx[428] * xx[248]) + xx[438] - xx[123]);

  xx[946] = xx[0];

  xx[947] = xx[0];

  xx[948] = xx[0];

  xx[949] = xx[0];

  xx[950] = xx[0];

  xx[951] = xx[0];

  xx[952] = xx[0];

  xx[953] = xx[0];

  xx[954] = xx[0];

  xx[955] = xx[0];

  xx[956] = xx[0];

  xx[957] = xx[0];

  xx[958] = xx[0];

  xx[959] = xx[0];

  xx[960] = xx[0];

  xx[961] = xx[0];

  xx[962] = xx[333] + xx[341] + (xx[343] * xx[14] + xx[350]) * xx[80];

  xx[963] = xx[357] + xx[363];

  xx[964] = xx[366] + xx[347];

  xx[965] = xx[360] + xx[321];

  xx[966] = xx[371] + xx[376];

  xx[967] = xx[381] + xx[336];

  xx[968] = xx[384] + xx[317];

  xx[969] = xx[339] + xx[390];

  xx[970] = xx[0];

  xx[971] = (xx[393] - xx[73] * xx[352] * xx[355]) * xx[80] + xx[387] - xx[72];

  xx[972] = xx[0];

  xx[973] = xx[0];

  xx[974] = xx[0];

  xx[975] = - (xx[396] + xx[416] + (xx[411] * xx[315] + xx[422]) * xx[80]);

  xx[976] = - (xx[419] + xx[436]);

  xx[977] = - (xx[433] + xx[403]);

  xx[978] = - ((xx[442] - xx[123] * xx[428] * xx[431]) * xx[80] + xx[439] + xx

               [102]);

  xx[979] = xx[0];

  xx[980] = xx[0];

  xx[981] = xx[0];

  xx[982] = xx[0];

  xx[983] = xx[0];

  xx[984] = xx[0];

  xx[985] = xx[0];

  xx[986] = xx[0];

  xx[987] = xx[0];

  xx[988] = xx[0];

  xx[989] = xx[0];

  xx[990] = xx[0];

  xx[991] = xx[0];

  xx[992] = xx[0];

  xx[993] = xx[0];

  xx[994] = xx[0];

  xx[995] = xx[334] + (xx[345] * xx[14] + xx[351]) * xx[80];

  xx[996] = xx[358] + xx[364];

  xx[997] = xx[367] + xx[348];

  xx[998] = xx[361] + xx[322];

  xx[999] = xx[372] + xx[377];

  xx[1000] = xx[382] + xx[337];

  xx[1001] = xx[385] + xx[318];

  xx[1002] = xx[340] + xx[391];

  xx[1003] = xx[0];

  xx[1004] = (xx[352] * xx[255] + xx[394]) * xx[80] + xx[388];

  xx[1005] = xx[0];

  xx[1006] = xx[0];

  xx[1007] = xx[0];

  xx[1008] = - (xx[397] + (xx[315] * xx[417] + xx[423]) * xx[80]);

  xx[1009] = - (xx[420] + xx[437]);

  xx[1010] = - (xx[434] + xx[404]);

  xx[1011] = - ((xx[428] * xx[251] + xx[443]) * xx[80] + xx[440]);

  xx[1012] = xx[0];

  xx[1013] = xx[0];

  xx[1014] = xx[0];

  xx[1015] = xx[0];

  xx[1016] = xx[0];

  xx[1017] = xx[0];

  xx[1018] = xx[0];

  xx[1019] = xx[0];

  xx[1020] = xx[0];

  xx[1021] = xx[0];

  xx[1022] = xx[0];

  xx[1023] = xx[0];

  xx[1024] = xx[0];

  xx[1025] = xx[0];

  xx[1026] = xx[0];

  xx[1027] = xx[0];

  xx[1028] = xx[464] + xx[476] + xx[80] * (xx[482] - xx[474] * xx[14]);

  xx[1029] = xx[489] + xx[495];

  xx[1030] = xx[498] + xx[479];

  xx[1031] = xx[492] + xx[452];

  xx[1032] = xx[503] + xx[508];

  xx[1033] = xx[513] + xx[470];

  xx[1034] = xx[516] + xx[448];

  xx[1035] = xx[519] + xx[459];

  xx[1036] = xx[0];

  xx[1037] = xx[0];

  xx[1038] = xx[80] * (xx[525] - xx[485] * xx[369]) + xx[522] + xx[73];

  xx[1039] = xx[0];

  xx[1040] = xx[0];

  xx[1041] = xx[0];

  xx[1042] = xx[0];

  xx[1043] = xx[0];

  xx[1044] = xx[0];

  xx[1045] = xx[0];

  xx[1046] = xx[0];

  xx[1047] = xx[0];

  xx[1048] = xx[0];

  xx[1049] = - (xx[528] + xx[550] + xx[80] * (xx[560] + xx[501] * xx[531]));

  xx[1050] = - (xx[557] + xx[574]);

  xx[1051] = - (xx[571] + xx[540]);

  xx[1052] = - (xx[80] * (xx[580] - xx[567] * xx[323]) + xx[577] - xx[123]);

  xx[1053] = xx[0];

  xx[1054] = xx[0];

  xx[1055] = xx[0];

  xx[1056] = xx[0];

  xx[1057] = xx[0];

  xx[1058] = xx[0];

  xx[1059] = xx[0];

  xx[1060] = xx[0];

  xx[1061] = xx[465] + xx[477] + (xx[475] * xx[14] + xx[483]) * xx[80];

  xx[1062] = xx[490] + xx[496];

  xx[1063] = xx[499] + xx[480];

  xx[1064] = xx[493] + xx[453];

  xx[1065] = xx[504] + xx[509];

  xx[1066] = xx[514] + xx[471];

  xx[1067] = xx[517] + xx[449];

  xx[1068] = xx[520] + xx[460];

  xx[1069] = xx[0];

  xx[1070] = xx[0];

  xx[1071] = (xx[73] * xx[485] * xx[488] + xx[526]) * xx[80] + xx[523] + xx[72];

  xx[1072] = xx[0];

  xx[1073] = xx[0];

  xx[1074] = xx[0];

  xx[1075] = xx[0];

  xx[1076] = xx[0];

  xx[1077] = xx[0];

  xx[1078] = xx[0];

  xx[1079] = xx[0];

  xx[1080] = xx[0];

  xx[1081] = xx[0];

  xx[1082] = - (xx[529] + xx[555] + (xx[561] - xx[501] * xx[549]) * xx[80]);

  xx[1083] = - (xx[558] + xx[575]);

  xx[1084] = - (xx[572] + xx[541]);

  xx[1085] = - ((xx[581] - xx[123] * xx[567] * xx[570]) * xx[80] + xx[578] + xx

                [102]);

  xx[1086] = xx[0];

  xx[1087] = xx[0];

  xx[1088] = xx[0];

  xx[1089] = xx[0];

  xx[1090] = xx[0];

  xx[1091] = xx[0];

  xx[1092] = xx[0];

  xx[1093] = xx[0];

  xx[1094] = xx[466] + (xx[14] * xx[478] + xx[484]) * xx[80];

  xx[1095] = xx[491] + xx[497];

  xx[1096] = xx[500] + xx[481];

  xx[1097] = xx[494] + xx[454];

  xx[1098] = xx[505] + xx[510];

  xx[1099] = xx[515] + xx[472];

  xx[1100] = xx[518] + xx[450];

  xx[1101] = xx[521] + xx[461];

  xx[1102] = xx[0];

  xx[1103] = xx[0];

  xx[1104] = (xx[485] * xx[405] + xx[527]) * xx[80] + xx[524];

  xx[1105] = xx[0];

  xx[1106] = xx[0];

  xx[1107] = xx[0];

  xx[1108] = xx[0];

  xx[1109] = xx[0];

  xx[1110] = xx[0];

  xx[1111] = xx[0];

  xx[1112] = xx[0];

  xx[1113] = xx[0];

  xx[1114] = xx[0];

  xx[1115] = - (xx[530] + (xx[501] * xx[556] + xx[562]) * xx[80]);

  xx[1116] = - (xx[559] + xx[576]);

  xx[1117] = - (xx[573] + xx[542]);

  xx[1118] = - ((xx[567] * xx[444] + xx[582]) * xx[80] + xx[579]);

  xx[1119] = xx[0];

  xx[1120] = xx[0];

  xx[1121] = xx[0];

  xx[1122] = xx[0];

  xx[1123] = xx[0];

  xx[1124] = xx[0];

  xx[1125] = xx[0];

  xx[1126] = xx[0];

  xx[1127] = xx[537] + xx[613] + xx[80] * (xx[618] - xx[611] * xx[14]);

  xx[1128] = xx[625] + xx[631];

  xx[1129] = xx[634] + xx[615];

  xx[1130] = xx[628] + xx[591];

  xx[1131] = xx[639] + xx[644];

  xx[1132] = xx[649] + xx[605];

  xx[1133] = xx[652] + xx[587];

  xx[1134] = xx[655] + xx[598];

  xx[1135] = xx[0];

  xx[1136] = xx[0];

  xx[1137] = xx[0];

  xx[1138] = xx[80] * (xx[661] - xx[621] * xx[543]) + xx[658] + xx[73];

  xx[1139] = xx[0];

  xx[1140] = xx[0];

  xx[1141] = xx[0];

  xx[1142] = xx[0];

  xx[1143] = xx[0];

  xx[1144] = xx[0];

  xx[1145] = xx[0];

  xx[1146] = xx[0];

  xx[1147] = xx[0];

  xx[1148] = xx[0];

  xx[1149] = xx[0];

  xx[1150] = xx[0];

  xx[1151] = xx[0];

  xx[1152] = - (xx[664] + xx[687] + xx[80] * (xx[697] - xx[638] * xx[667]));

  xx[1153] = - (xx[694] + xx[711]);

  xx[1154] = - (xx[708] + xx[677]);

  xx[1155] = - (xx[80] * (xx[717] - xx[704] * xx[447]) + xx[714] - xx[123]);

  xx[1156] = xx[0];

  xx[1157] = xx[0];

  xx[1158] = xx[0];

  xx[1159] = xx[0];

  xx[1160] = xx[538] + xx[610] + (xx[612] * xx[14] + xx[619]) * xx[80];

  xx[1161] = xx[626] + xx[632];

  xx[1162] = xx[635] + xx[616];

  xx[1163] = xx[629] + xx[592];

  xx[1164] = xx[640] + xx[645];

  xx[1165] = xx[650] + xx[606];

  xx[1166] = xx[653] + xx[588];

  xx[1167] = xx[656] + xx[599];

  xx[1168] = xx[0];

  xx[1169] = xx[0];

  xx[1170] = xx[0];

  xx[1171] = (xx[73] * xx[621] * xx[624] + xx[662]) * xx[80] + xx[659] + xx[72];

  xx[1172] = xx[0];

  xx[1173] = xx[0];

  xx[1174] = xx[0];

  xx[1175] = xx[0];

  xx[1176] = xx[0];

  xx[1177] = xx[0];

  xx[1178] = xx[0];

  xx[1179] = xx[0];

  xx[1180] = xx[0];

  xx[1181] = xx[0];

  xx[1182] = xx[0];

  xx[1183] = xx[0];

  xx[1184] = xx[0];

  xx[1185] = - (xx[665] + xx[692] + (xx[638] * xx[686] + xx[698]) * xx[80]);

  xx[1186] = - (xx[695] + xx[712]);

  xx[1187] = - (xx[709] + xx[678]);

  xx[1188] = - ((xx[718] - xx[123] * xx[704] * xx[707]) * xx[80] + xx[715] + xx

                [102]);

  xx[1189] = xx[0];

  xx[1190] = xx[0];

  xx[1191] = xx[0];

  xx[1192] = xx[0];

  xx[1193] = xx[539] + (xx[14] * xx[614] + xx[620]) * xx[80];

  xx[1194] = xx[627] + xx[633];

  xx[1195] = xx[636] + xx[617];

  xx[1196] = xx[630] + xx[593];

  xx[1197] = xx[641] + xx[646];

  xx[1198] = xx[651] + xx[607];

  xx[1199] = xx[654] + xx[589];

  xx[1200] = xx[657] + xx[600];

  xx[1201] = xx[0];

  xx[1202] = xx[0];

  xx[1203] = xx[0];

  xx[1204] = (xx[621] * xx[586] + xx[663]) * xx[80] + xx[660];

  xx[1205] = xx[0];

  xx[1206] = xx[0];

  xx[1207] = xx[0];

  xx[1208] = xx[0];

  xx[1209] = xx[0];

  xx[1210] = xx[0];

  xx[1211] = xx[0];

  xx[1212] = xx[0];

  xx[1213] = xx[0];

  xx[1214] = xx[0];

  xx[1215] = xx[0];

  xx[1216] = xx[0];

  xx[1217] = xx[0];

  xx[1218] = - (xx[666] + (xx[699] - xx[638] * xx[693]) * xx[80]);

  xx[1219] = - (xx[696] + xx[713]);

  xx[1220] = - (xx[710] + xx[679]);

  xx[1221] = - ((xx[704] * xx[583] + xx[719]) * xx[80] + xx[716]);

  xx[1222] = - (xx[724] + xx[749] + xx[80] * (xx[760] + xx[721] * xx[727]));

  xx[1223] = - (xx[757] + xx[774]);

  xx[1224] = - (xx[771] + xx[739]);

  xx[1225] = - (xx[80] * (xx[780] - xx[767] * xx[585]) + xx[777] - xx[123]);

  xx[1226] = xx[17] + xx[800] + xx[80] * (xx[804] - xx[120] * xx[14]);

  xx[1227] = xx[811] + xx[170];

  xx[1228] = xx[814] + xx[182];

  xx[1229] = xx[35] + xx[50];

  xx[1230] = xx[68] + xx[734];

  xx[1231] = xx[801] + xx[817];

  xx[1232] = xx[807] + xx[46];

  xx[1233] = xx[797] + xx[783];

  xx[1234] = xx[0];

  xx[1235] = xx[0];

  xx[1236] = xx[0];

  xx[1237] = xx[0];

  xx[1238] = xx[80] * (xx[823] - xx[11] * xx[31]) + xx[16] + xx[80] * (xx[75] +

    xx[191] * xx[34]) + xx[73];

  xx[1239] = xx[0];

  xx[1240] = xx[0];

  xx[1241] = xx[0];

  xx[1242] = xx[0];

  xx[1243] = xx[0];

  xx[1244] = xx[0];

  xx[1245] = xx[0];

  xx[1246] = xx[0];

  xx[1247] = xx[0];

  xx[1248] = xx[0];

  xx[1249] = xx[0];

  xx[1250] = xx[0];

  xx[1251] = xx[0];

  xx[1252] = xx[0];

  xx[1253] = xx[0];

  xx[1254] = xx[0];

  xx[1255] = - (xx[725] + xx[755] + (xx[761] - xx[721] * xx[748]) * xx[80]);

  xx[1256] = - (xx[758] + xx[775]);

  xx[1257] = - (xx[772] + xx[740]);

  xx[1258] = - ((xx[781] - xx[123] * xx[767] * xx[770]) * xx[80] + xx[778] + xx

                [102]);

  xx[1259] = xx[18] + xx[53] + (xx[137] * xx[14] + xx[805]) * xx[80];

  xx[1260] = xx[812] + xx[171];

  xx[1261] = xx[815] + xx[183];

  xx[1262] = xx[36] + xx[51];

  xx[1263] = xx[69] + xx[735];

  xx[1264] = xx[802] + xx[818];

  xx[1265] = xx[808] + xx[47];

  xx[1266] = xx[798] + xx[784];

  xx[1267] = xx[0];

  xx[1268] = xx[0];

  xx[1269] = xx[0];

  xx[1270] = xx[0];

  xx[1271] = (xx[11] * xx[33] + xx[824]) * xx[80] - xx[23] + (xx[191] * xx[38] +

    xx[76]) * xx[80] + xx[72];

  xx[1272] = xx[0];

  xx[1273] = xx[0];

  xx[1274] = xx[0];

  xx[1275] = xx[0];

  xx[1276] = xx[0];

  xx[1277] = xx[0];

  xx[1278] = xx[0];

  xx[1279] = xx[0];

  xx[1280] = xx[0];

  xx[1281] = xx[0];

  xx[1282] = xx[0];

  xx[1283] = xx[0];

  xx[1284] = xx[0];

  xx[1285] = xx[0];

  xx[1286] = xx[0];

  xx[1287] = xx[0];

  xx[1288] = - (xx[726] + (xx[762] - xx[721] * xx[756]) * xx[80]);

  xx[1289] = - (xx[759] + xx[776]);

  xx[1290] = - (xx[773] + xx[741]);

  xx[1291] = - ((xx[767] * xx[669] + xx[782]) * xx[80] + xx[779]);

  xx[1292] = xx[19] + (xx[796] * xx[14] + xx[806]) * xx[80];

  xx[1293] = xx[813] + xx[172];

  xx[1294] = xx[816] + xx[184];

  xx[1295] = xx[37] + xx[52];

  xx[1296] = xx[70] + xx[736];

  xx[1297] = xx[803] + xx[819];

  xx[1298] = xx[809] + xx[48];

  xx[1299] = xx[799] + xx[785];

  xx[1300] = xx[0];

  xx[1301] = xx[0];

  xx[1302] = xx[0];

  xx[1303] = xx[0];

  xx[1304] = (xx[11] * xx[27] + xx[825]) * xx[80] + (xx[77] - xx[191] * xx[39]) *

    xx[80];

  xx[1305] = xx[0];

  xx[1306] = xx[0];

  xx[1307] = xx[0];

  xx[1308] = xx[0];

  xx[1309] = xx[0];

  xx[1310] = xx[0];

  xx[1311] = xx[0];

  xx[1312] = xx[0];

  xx[1313] = xx[0];

  xx[1314] = xx[0];

  xx[1315] = xx[0];

  xx[1316] = xx[0];

  xx[1317] = xx[0];

  xx[1318] = xx[0];

  xx[1319] = xx[0];

  xx[1320] = xx[0];

  pm_math_quatXform(xx + 220, xx + 84, xx + 16);

  pm_math_quatXform(xx + 191, xx + 97, xx + 31);

  xx[34] = - xx[107];

  xx[35] = xx[109];

  xx[36] = - xx[101];

  pm_math_quatXform(xx + 157, xx + 34, xx + 37);

  xx[34] = xx[121];

  xx[35] = xx[124];

  xx[36] = xx[116];

  pm_math_quatXform(xx + 153, xx + 34, xx + 46);

  pm_math_quatXform(xx + 149, xx + 132, xx + 34);

  xx[49] = xx[14];

  xx[50] = xx[3];

  xx[51] = xx[7];

  xx[52] = xx[15];

  xx[6] = xx[131] * xx[10] - xx[135] * xx[8];

  xx[9] = 0.03194045366784892;

  xx[11] = 8.762500002356819e-3;

  xx[19] = 7.175000002356807e-3;

  xx[64] = xx[80] * xx[6] * xx[10] + xx[9];

  xx[65] = xx[80] * xx[6] * xx[8] + xx[135];

  xx[66] = xx[11] - (xx[8] * xx[19] * xx[8] + xx[19] * xx[10] * xx[10]) * xx[80];

  pm_math_quatXform(xx + 49, xx + 64, xx + 68);

  xx[6] = 1.5875e-3;

  xx[8] = xx[6] * xx[7];

  xx[10] = 0.02520954632904373;

  xx[23] = xx[3] * xx[6] - xx[15] * xx[10];

  xx[27] = xx[10] * xx[7];

  xx[64] = - xx[8];

  xx[65] = xx[23];

  xx[66] = xx[27];

  pm_math_cross3(xx + 139, xx + 64, xx + 75);

  xx[43] = (xx[75] - xx[8] * xx[14]) * xx[80];

  xx[8] = 0.04299719117889741;

  xx[53] = xx[37] + xx[46] + xx[34] + xx[68] - xx[43] - xx[8];

  pm_math_quatXform(xx + 290, xx + 267, xx + 64);

  pm_math_quatXform(xx + 286, xx + 263, xx + 81);

  xx[91] = xx[241];

  xx[92] = xx[273];

  xx[93] = xx[225];

  xx[94] = xx[274];

  xx[58] = xx[266] * xx[118] + xx[270] * xx[226];

  xx[59] = 0.03194045366071555;

  xx[61] = 4.000000007367204e-3;

  xx[71] = 2.412500007367193e-3;

  xx[97] = xx[80] * xx[58] * xx[226] + xx[59];

  xx[98] = xx[80] * xx[58] * xx[118] - xx[266];

  xx[99] = (xx[118] * xx[61] * xx[118] + xx[61] * xx[226] * xx[226]) * xx[80] -

    xx[71];

  pm_math_quatXform(xx + 91, xx + 97, xx + 109);

  xx[58] = 1.587500000000011e-3;

  xx[78] = xx[225] * xx[58];

  xx[88] = xx[10] * xx[242] + xx[58] * xx[125];

  xx[89] = xx[225] * xx[10];

  xx[97] = xx[78];

  xx[98] = xx[88];

  xx[99] = xx[89];

  pm_math_cross3(xx + 275, xx + 97, xx + 132);

  xx[97] = (xx[241] * xx[78] + xx[132]) * xx[80];

  xx[78] = 0.1417622656843958;

  xx[98] = (xx[23] * xx[14] + xx[76]) * xx[80];

  xx[23] = 0.02992188481855372;

  xx[99] = xx[38] + xx[47] + xx[35] + xx[69] - xx[98] + xx[23];

  xx[101] = (xx[241] * xx[88] + xx[133]) * xx[80];

  xx[88] = 0.02992349485130436;

  xx[34] = xx[80] * (xx[77] + xx[27] * xx[14]);

  xx[27] = 0.1428830924490354;

  xx[35] = xx[39] + xx[48] + xx[36] + xx[70] - xx[34] + xx[27];

  xx[36] = xx[80] * (xx[134] + xx[241] * xx[89]);

  xx[37] = 0.1065919054848736;

  pm_math_quatXform(xx + 352, xx + 84, xx + 46);

  pm_math_quatXform(xx + 191, xx + 329, xx + 68);

  pm_math_quatXform(xx + 428, xx + 267, xx + 75);

  pm_math_quatXform(xx + 424, xx + 406, xx + 132);

  xx[142] = xx[315];

  xx[143] = xx[224];

  xx[144] = xx[256];

  xx[145] = xx[319];

  xx[38] = xx[410] * xx[258] - xx[409] * xx[313];

  xx[39] = 0.03194045368023388;

  xx[89] = 8.762499998974573e-3;

  xx[107] = 7.174999998974562e-3;

  xx[136] = xx[80] * xx[38] * xx[313] + xx[39];

  xx[137] = xx[80] * xx[38] * xx[258] - xx[410];

  xx[138] = xx[89] - (xx[258] * xx[107] * xx[258] + xx[107] * xx[313] * xx[313])

    * xx[80];

  pm_math_quatXform(xx + 142, xx + 136, xx + 146);

  xx[38] = xx[6] * xx[256];

  xx[116] = 0.02520954632904374;

  xx[118] = xx[224] * xx[6] - xx[319] * xx[116];

  xx[6] = xx[116] * xx[256];

  xx[136] = - xx[38];

  xx[137] = xx[118];

  xx[138] = xx[6];

  pm_math_cross3(xx + 413, xx + 136, xx + 149);

  xx[120] = (xx[149] - xx[38] * xx[315]) * xx[80];

  xx[38] = 0.05787438452398606;

  xx[121] = (xx[118] * xx[315] + xx[150]) * xx[80];

  xx[118] = 0.02992259737327991;

  xx[124] = xx[80] * (xx[151] + xx[6] * xx[315]);

  xx[6] = 0.1550274415345039;

  pm_math_quatXform(xx + 485, xx + 84, xx + 136);

  pm_math_quatXform(xx + 191, xx + 467, xx + 149);

  pm_math_quatXform(xx + 567, xx + 267, xx + 152);

  pm_math_quatXform(xx + 563, xx + 544, xx + 155);

  xx[158] = xx[501];

  xx[159] = xx[400];

  xx[160] = xx[451];

  xx[161] = xx[551];

  xx[129] = xx[547] * xx[455] - xx[548] * xx[378];

  xx[130] = 0.03194045366579833;

  xx[162] = 3.99999999470772e-3;

  xx[163] = 2.412499994707708e-3;

  xx[170] = xx[80] * xx[129] * xx[455] + xx[130];

  xx[171] = xx[80] * xx[129] * xx[378] + xx[548];

  xx[172] = (xx[378] * xx[162] * xx[378] + xx[162] * xx[455] * xx[455]) * xx[80]

    - xx[163];

  pm_math_quatXform(xx + 158, xx + 170, xx + 173);

  xx[129] = xx[451] * xx[58];

  xx[164] = xx[10] * xx[502] - xx[58] * xx[400];

  xx[166] = xx[451] * xx[10];

  xx[170] = xx[129];

  xx[171] = xx[164];

  xx[172] = xx[166];

  pm_math_cross3(xx + 552, xx + 170, xx + 179);

  xx[170] = (xx[501] * xx[129] + xx[179]) * xx[80];

  xx[129] = 0.06304794220310322;

  xx[171] = (xx[501] * xx[164] + xx[180]) * xx[80];

  xx[164] = 0.02992204813763048;

  xx[172] = xx[80] * (xx[181] + xx[501] * xx[166]);

  xx[166] = 0.1313039406712666;

  pm_math_quatXform(xx + 621, xx + 84, xx + 179);

  pm_math_quatXform(xx + 191, xx + 602, xx + 182);

  pm_math_quatXform(xx + 704, xx + 267, xx + 185);

  pm_math_quatXform(xx + 700, xx + 681, xx + 188);

  xx[202] = xx[638];

  xx[203] = xx[688];

  xx[204] = xx[594];

  xx[205] = xx[642];

  xx[195] = xx[684] * xx[608] - xx[685] * xx[507];

  xx[196] = 0.03194045367079622;

  xx[197] = 3.999999996613603e-3;

  xx[206] = 2.412499996613564e-3;

  xx[207] = xx[80] * xx[195] * xx[608] + xx[196];

  xx[208] = xx[80] * xx[195] * xx[507] + xx[685];

  xx[209] = (xx[507] * xx[197] * xx[507] + xx[197] * xx[608] * xx[608]) * xx[80]

    - xx[206];

  pm_math_quatXform(xx + 202, xx + 207, xx + 210);

  xx[195] = 1.587499999999983e-3;

  xx[207] = xx[594] * xx[195];

  xx[208] = xx[195] * xx[536] - xx[10] * xx[642];

  xx[195] = xx[594] * xx[10];

  xx[213] = xx[207];

  xx[214] = xx[208];

  xx[215] = xx[195];

  pm_math_cross3(xx + 689, xx + 213, xx + 216);

  xx[209] = (xx[638] * xx[207] + xx[216]) * xx[80];

  xx[207] = 0.1240382406650065;

  xx[213] = (xx[638] * xx[208] + xx[217]) * xx[80];

  xx[208] = 0.02992151662180351;

  xx[214] = xx[80] * (xx[218] + xx[638] * xx[195]);

  xx[195] = 0.04996916497694619;

  pm_math_quatXform(xx + 198, xx + 84, xx + 215);

  pm_math_quatXform(xx + 191, xx + 792, xx + 198);

  pm_math_quatXform(xx + 767, xx + 267, xx + 191);

  pm_math_quatXform(xx + 763, xx + 743, xx + 218);

  xx[226] = xx[721];

  xx[227] = xx[750];

  xx[228] = xx[675];

  xx[229] = xx[751];

  xx[194] = 0.03194045367870467;

  xx[201] = xx[747] * xx[590] + xx[746] * xx[676];

  xx[221] = 4.0000000045273e-3;

  xx[222] = 2.412500004527289e-3;

  xx[230] = xx[194] - xx[80] * xx[201] * xx[676];

  xx[231] = xx[747] - xx[80] * xx[201] * xx[590];

  xx[232] = (xx[590] * xx[221] * xx[590] + xx[221] * xx[676] * xx[676]) * xx[80]

    - xx[222];

  pm_math_quatXform(xx + 226, xx + 230, xx + 233);

  xx[201] = xx[675] * xx[58];

  xx[223] = xx[10] * xx[722] + xx[58] * xx[647];

  xx[58] = xx[675] * xx[10];

  xx[230] = xx[201];

  xx[231] = xx[223];

  xx[232] = xx[58];

  pm_math_cross3(xx + 752, xx + 230, xx + 236);

  xx[230] = (xx[721] * xx[201] + xx[236]) * xx[80];

  xx[201] = 0.1816563790182656;

  xx[231] = (xx[721] * xx[223] + xx[237]) * xx[80];

  xx[223] = 0.02992367610368172;

  xx[232] = xx[80] * (xx[238] + xx[721] * xx[58]);

  xx[58] = 0.01321939793971065;

  xx[329] = - (xx[16] + xx[31] + xx[53] - (xx[64] + xx[81] + xx[109] - xx[97]) -

               xx[78]);

  xx[330] = - (xx[17] + xx[32] + xx[99] - (xx[65] + xx[82] + xx[110] - xx[101])

               - xx[88]);

  xx[331] = - (xx[18] + xx[33] + xx[35] - (xx[66] + xx[83] + xx[111] - xx[36]) +

               xx[37]);

  xx[332] = - (xx[46] + xx[68] + xx[53] - (xx[75] + xx[132] + xx[146] - xx[120])

               - xx[38]);

  xx[333] = - (xx[47] + xx[69] + xx[99] - (xx[76] + xx[133] + xx[147] - xx[121])

               - xx[118]);

  xx[334] = - (xx[48] + xx[70] + xx[35] - (xx[77] + xx[134] + xx[148] - xx[124])

               - xx[6]);

  xx[335] = - (xx[136] + xx[149] + xx[53] - (xx[152] + xx[155] + xx[173] - xx

    [170]) + xx[129]);

  xx[336] = - (xx[137] + xx[150] + xx[99] - (xx[153] + xx[156] + xx[174] - xx

    [171]) - xx[164]);

  xx[337] = - (xx[138] + xx[151] + xx[35] - (xx[154] + xx[157] + xx[175] - xx

    [172]) + xx[166]);

  xx[338] = - (xx[179] + xx[182] + xx[53] - (xx[185] + xx[188] + xx[210] - xx

    [209]) + xx[207]);

  xx[339] = - (xx[180] + xx[183] + xx[99] - (xx[186] + xx[189] + xx[211] - xx

    [213]) - xx[208]);

  xx[340] = - (xx[181] + xx[184] + xx[35] - (xx[187] + xx[190] + xx[212] - xx

    [214]) + xx[195]);

  xx[341] = - (xx[215] + xx[198] + xx[53] - (xx[191] + xx[218] + xx[233] - xx

    [230]) - xx[201]);

  xx[342] = - (xx[216] + xx[199] + xx[99] - (xx[192] + xx[219] + xx[234] - xx

    [231]) - xx[223]);

  xx[343] = - (xx[217] + xx[200] + xx[35] - (xx[193] + xx[220] + xx[235] - xx

    [232]) + xx[58]);

  xx[16] = 1.0e-8;

  memcpy(xx + 1321, xx + 826, 495 * sizeof(double));

  factorAndSolveWide(15, 33, xx + 1321, xx + 179, xx + 344, ii + 0, xx + 329,

                     xx[16], xx + 755);

  xx[17] = state[14] + xx[755];

  xx[18] = state[25] + xx[759];

  xx[31] = xx[18] * xx[2];

  xx[32] = cos(xx[31]);

  xx[33] = xx[3] * xx[32];

  xx[35] = sin(xx[31]);

  xx[31] = xx[35] * xx[7];

  xx[46] = - (xx[32] * xx[14] + xx[15] * xx[35]);

  xx[47] = xx[35] * xx[14] - xx[15] * xx[32];

  xx[48] = xx[3] * xx[35] + xx[32] * xx[7];

  xx[146] = xx[33] - xx[31];

  xx[147] = xx[46];

  xx[148] = xx[47];

  xx[149] = xx[48];

  xx[150] = xx[26];

  xx[151] = xx[29];

  xx[152] = xx[28];

  xx[153] = xx[24];

  pm_math_quatDeriv(xx + 150, xx + 760, xx + 154);

  xx[53] = xx[24] + xx[157];

  xx[24] = xx[26] + xx[154];

  xx[26] = xx[29] + xx[155];

  xx[29] = xx[28] + xx[156];

  xx[28] = 1.0e-64;

  xx[64] = sqrt(xx[24] * xx[24] + xx[26] * xx[26] + xx[29] * xx[29] + xx[53] *

                xx[53]);

  if (xx[28] > xx[64])

    xx[64] = xx[28];

  xx[65] = xx[53] / xx[64];

  xx[53] = xx[24] / xx[64];

  xx[24] = xx[21] * xx[65] - xx[25] * xx[53];

  xx[66] = xx[29] / xx[64];

  xx[29] = xx[26] / xx[64];

  xx[26] = xx[21] * xx[66] + xx[25] * xx[29];

  xx[64] = - xx[26];

  xx[68] = xx[25] * xx[66] - xx[21] * xx[29];

  xx[69] = - xx[68];

  xx[70] = xx[21] * xx[53] + xx[25] * xx[65];

  xx[75] = - xx[70];

  xx[150] = xx[24];

  xx[151] = xx[64];

  xx[152] = xx[69];

  xx[153] = xx[75];

  xx[154] = xx[42];

  xx[155] = xx[45];

  xx[156] = xx[44];

  xx[157] = xx[40];

  pm_math_quatDeriv(xx + 154, xx + 763, xx + 179);

  xx[76] = xx[40] + xx[182];

  xx[40] = xx[42] + xx[179];

  xx[42] = xx[45] + xx[180];

  xx[45] = xx[44] + xx[181];

  xx[44] = sqrt(xx[40] * xx[40] + xx[42] * xx[42] + xx[45] * xx[45] + xx[76] *

                xx[76]);

  if (xx[28] > xx[44])

    xx[44] = xx[28];

  xx[77] = xx[76] / xx[44];

  xx[76] = xx[40] / xx[44];

  xx[40] = xx[25] * xx[77] - xx[41] * xx[76];

  xx[81] = xx[45] / xx[44];

  xx[45] = xx[42] / xx[44];

  xx[42] = xx[25] * xx[81] - xx[41] * xx[45];

  xx[44] = xx[41] * xx[81] + xx[25] * xx[45];

  xx[82] = - xx[44];

  xx[83] = xx[41] * xx[77] + xx[25] * xx[76];

  xx[99] = - xx[83];

  xx[154] = xx[40];

  xx[155] = xx[42];

  xx[156] = xx[82];

  xx[157] = xx[99];

  xx[109] = state[43] + xx[767];

  xx[110] = xx[109] * xx[2];

  xx[111] = cos(xx[110]);

  xx[132] = state[41] + xx[766];

  xx[133] = xx[132] * xx[2];

  xx[134] = sin(xx[133]);

  xx[136] = xx[57] * xx[134];

  xx[137] = xx[56] * xx[136];

  xx[138] = xx[63] * xx[134];

  xx[134] = xx[62] * xx[138];

  xx[173] = cos(xx[133]);

  xx[133] = xx[62] * xx[173];

  xx[174] = xx[137] + xx[134] - xx[133];

  xx[175] = sin(xx[110]);

  xx[110] = xx[134] + xx[133] + xx[137];

  xx[133] = xx[111] * xx[174] + xx[175] * xx[110];

  xx[134] = xx[62] * xx[136];

  xx[136] = xx[56] * xx[173];

  xx[137] = xx[56] * xx[138];

  xx[138] = xx[134] + xx[136] - xx[137];

  xx[173] = xx[136] - xx[134] + xx[137];

  xx[134] = xx[138] * xx[111] - xx[175] * xx[173];

  xx[136] = xx[111] * xx[173] + xx[138] * xx[175];

  xx[137] = xx[111] * xx[110] - xx[175] * xx[174];

  xx[179] = xx[133];

  xx[180] = xx[134];

  xx[181] = xx[136];

  xx[182] = xx[137];

  pm_math_quatCompose(xx + 154, xx + 179, xx + 183);

  pm_math_quatCompose(xx + 150, xx + 183, xx + 187);

  pm_math_quatCompose(xx + 146, xx + 187, xx + 215);

  xx[191] = xx[80] * (xx[188] * xx[190] - xx[187] * xx[189]);

  xx[192] = (xx[187] * xx[188] + xx[189] * xx[190]) * xx[80];

  xx[193] = xx[22] - (xx[188] * xx[188] + xx[189] * xx[189]) * xx[80];

  pm_math_cross3(xx + 191, xx + 84, xx + 187);

  pm_math_quatXform(xx + 215, xx + 187, xx + 190);

  xx[215] = xx[174];

  xx[216] = xx[138];

  xx[217] = xx[173];

  xx[218] = xx[110];

  xx[187] = xx[87] * xx[175];

  xx[188] = xx[111] * xx[187];

  xx[189] = xx[90] * xx[175];

  xx[193] = xx[189] * xx[175];

  xx[198] = xx[79] + xx[80] * (xx[188] + xx[193]) - xx[90];

  xx[199] = xx[187] * xx[175];

  xx[187] = xx[111] * xx[189];

  xx[189] = xx[87] - (xx[199] - xx[187]) * xx[80];

  xx[210] = - xx[198];

  xx[211] = - xx[189];

  xx[212] = xx[96];

  pm_math_quatXform(xx + 215, xx + 210, xx + 233);

  xx[200] = xx[105] * xx[173];

  xx[236] = xx[138];

  xx[237] = xx[173];

  xx[238] = xx[110];

  xx[219] = xx[104] * xx[110] - xx[138] * xx[105];

  xx[220] = xx[104] * xx[173];

  xx[244] = xx[200];

  xx[245] = xx[219];

  xx[246] = - xx[220];

  pm_math_cross3(xx + 236, xx + 244, xx + 258);

  xx[236] = xx[103] + xx[104] + (xx[200] * xx[174] + xx[258]) * xx[80];

  xx[103] = xx[233] - xx[236];

  xx[200] = xx[108] - (xx[174] * xx[219] + xx[259]) * xx[80];

  xx[219] = xx[234] + xx[200];

  xx[233] = xx[100] + xx[105] + xx[80] * (xx[260] - xx[220] * xx[174]);

  xx[100] = xx[235] - xx[233];

  xx[244] = xx[103];

  xx[245] = xx[219];

  xx[246] = xx[100];

  pm_math_quatXform(xx + 154, xx + 244, xx + 258);

  pm_math_quatXform(xx + 154, xx + 112, xx + 244);

  xx[220] = xx[102] + xx[244];

  xx[234] = xx[258] + xx[220];

  xx[235] = xx[123] + xx[245];

  xx[237] = xx[259] + xx[235];

  xx[238] = xx[115] + xx[246];

  xx[244] = xx[260] + xx[238];

  xx[245] = xx[234];

  xx[246] = xx[237];

  xx[247] = xx[244];

  pm_math_quatXform(xx + 150, xx + 245, xx + 258);

  pm_math_quatXform(xx + 150, xx + 126, xx + 245);

  xx[248] = xx[259] + xx[246];

  xx[251] = xx[258] + xx[245];

  xx[255] = xx[248] * xx[35] - xx[251] * xx[32];

  xx[258] = xx[131] * xx[32] + xx[135] * xx[35];

  xx[259] = xx[80] * xx[258] * xx[35];

  xx[260] = xx[80] * xx[35] * xx[255] - (xx[248] - xx[259]) - xx[135];

  xx[248] = xx[80] * xx[258] * xx[32];

  xx[258] = xx[251] + xx[80] * xx[32] * xx[255] + xx[248] - xx[131];

  xx[251] = xx[15] * xx[258];

  xx[255] = xx[15] * xx[260];

  xx[261] = xx[3] * xx[258] - xx[260] * xx[7];

  xx[263] = - xx[251];

  xx[264] = xx[255];

  xx[265] = xx[261];

  pm_math_cross3(xx + 139, xx + 263, xx + 271);

  xx[283] = - (xx[31] - xx[33]);

  xx[284] = xx[46];

  xx[285] = xx[47];

  xx[286] = xx[48];

  pm_math_quatCompose(xx + 283, xx + 150, xx + 287);

  pm_math_quatCompose(xx + 287, xx + 183, xx + 291);

  xx[31] = xx[4] * xx[186];

  xx[33] = xx[4] * xx[184] + xx[185];

  xx[46] = xx[31];

  xx[47] = xx[186];

  xx[48] = - xx[33];

  pm_math_cross3(xx + 184, xx + 46, xx + 263);

  xx[46] = xx[183] * xx[186];

  xx[300] = xx[22] + (xx[263] - xx[183] * xx[31]) * xx[80];

  xx[301] = xx[80] * (xx[264] - xx[46]) - xx[4];

  xx[302] = xx[80] * (xx[265] + xx[183] * xx[33]);

  pm_math_cross3(xx + 300, xx + 84, xx + 263);

  pm_math_quatXform(xx + 291, xx + 263, xx + 300);

  xx[33] = - (xx[244] * xx[4]);

  xx[263] = xx[33];

  xx[264] = - xx[244];

  xx[265] = xx[237] + xx[234] * xx[4];

  pm_math_quatXform(xx + 150, xx + 263, xx + 303);

  pm_math_quatXform(xx + 150, xx + 167, xx + 263);

  xx[306] = xx[303] + xx[263];

  xx[307] = xx[304] + xx[264];

  xx[308] = xx[305] + xx[265];

  pm_math_quatXform(xx + 283, xx + 306, xx + 303);

  xx[47] = xx[184] - xx[4] * xx[185];

  xx[306] = - xx[186];

  xx[307] = xx[31];

  xx[308] = xx[47];

  pm_math_cross3(xx + 184, xx + 306, xx + 309);

  xx[306] = xx[4] + (xx[46] + xx[309]) * xx[80];

  xx[307] = xx[22] + xx[80] * (xx[310] - xx[4] * xx[46]);

  xx[308] = xx[80] * (xx[311] - xx[183] * xx[47]);

  pm_math_cross3(xx + 306, xx + 84, xx + 46);

  pm_math_quatXform(xx + 291, xx + 46, xx + 306);

  xx[46] = xx[244];

  xx[47] = xx[33];

  xx[48] = xx[237] * xx[4] - xx[234];

  pm_math_quatXform(xx + 150, xx + 46, xx + 309);

  pm_math_quatXform(xx + 150, xx + 176, xx + 46);

  xx[316] = xx[309] + xx[46];

  xx[317] = xx[310] + xx[47];

  xx[318] = xx[311] + xx[48];

  pm_math_quatXform(xx + 283, xx + 316, xx + 309);

  xx[316] = xx[80] * (xx[184] * xx[186] - xx[183] * xx[185]);

  xx[317] = (xx[183] * xx[184] + xx[185] * xx[186]) * xx[80];

  xx[318] = xx[22] - (xx[184] * xx[184] + xx[185] * xx[185]) * xx[80];

  pm_math_cross3(xx + 316, xx + 84, xx + 183);

  pm_math_quatXform(xx + 291, xx + 183, xx + 316);

  xx[183] = xx[64];

  xx[184] = xx[69];

  xx[185] = xx[75];

  xx[31] = xx[234] * xx[70];

  xx[33] = xx[237] * xx[70];

  xx[64] = xx[234] * xx[26] + xx[68] * xx[237];

  xx[291] = xx[31];

  xx[292] = xx[33];

  xx[293] = - xx[64];

  pm_math_cross3(xx + 183, xx + 291, xx + 294);

  xx[69] = xx[117] * xx[70];

  xx[75] = xx[119] * xx[70];

  xx[186] = xx[117] * xx[26] + xx[68] * xx[119];

  xx[291] = xx[69];

  xx[292] = xx[75];

  xx[293] = - xx[186];

  pm_math_cross3(xx + 183, xx + 291, xx + 320);

  xx[244] = xx[80] * (xx[320] + xx[69] * xx[24]);

  xx[69] = (xx[75] * xx[24] + xx[321]) * xx[80];

  xx[75] = (xx[322] - xx[186] * xx[24]) * xx[80];

  xx[291] = xx[80] * (xx[294] + xx[31] * xx[24]) + xx[244] - xx[237] - xx[119];

  xx[292] = xx[234] + xx[80] * (xx[295] + xx[33] * xx[24]) + xx[69] + xx[117];

  xx[293] = (xx[296] - xx[64] * xx[24]) * xx[80] + xx[75];

  pm_math_quatXform(xx + 283, xx + 291, xx + 294);

  pm_math_quatCompose(xx + 287, xx + 154, xx + 320);

  pm_math_quatCompose(xx + 320, xx + 179, xx + 329);

  xx[31] = xx[136] * xx[136];

  xx[33] = xx[137] * xx[137];

  xx[64] = xx[136] * xx[134];

  xx[179] = xx[133] * xx[137];

  xx[180] = xx[133] * xx[136];

  xx[181] = xx[137] * xx[134];

  xx[291] = xx[22] - (xx[31] + xx[33]) * xx[80];

  xx[292] = xx[80] * (xx[64] - xx[179]);

  xx[293] = (xx[180] + xx[181]) * xx[80];

  pm_math_cross3(xx + 291, xx + 84, xx + 333);

  pm_math_quatXform(xx + 329, xx + 333, xx + 291);

  xx[333] = xx[42];

  xx[334] = xx[82];

  xx[335] = xx[99];

  xx[82] = xx[44] * xx[219];

  xx[99] = xx[83] * xx[100];

  xx[182] = xx[82] + xx[99];

  xx[186] = xx[219] * xx[42];

  xx[234] = xx[100] * xx[42];

  xx[336] = - xx[182];

  xx[337] = - xx[186];

  xx[338] = - xx[234];

  pm_math_cross3(xx + 333, xx + 336, xx + 339);

  xx[237] = xx[44] * xx[73];

  xx[274] = xx[83] * xx[74];

  xx[278] = xx[237] - xx[274];

  xx[279] = xx[73] * xx[42];

  xx[313] = xx[74] * xx[42];

  xx[336] = xx[278];

  xx[337] = xx[279];

  xx[338] = - xx[313];

  pm_math_cross3(xx + 333, xx + 336, xx + 342);

  xx[336] = (xx[278] * xx[40] + xx[342]) * xx[80];

  xx[278] = xx[80] * (xx[343] + xx[279] * xx[40]);

  xx[279] = (xx[344] - xx[313] * xx[40]) * xx[80];

  xx[342] = xx[80] * (xx[339] - xx[182] * xx[40]) + xx[336];

  xx[343] = xx[80] * (xx[340] - xx[186] * xx[40]) + xx[278] - xx[100] - xx[74];

  xx[344] = xx[219] + xx[80] * (xx[341] - xx[234] * xx[40]) + xx[279] - xx[73];

  pm_math_quatXform(xx + 287, xx + 342, xx + 337);

  xx[182] = xx[134] * xx[134];

  xx[186] = xx[136] * xx[137];

  xx[136] = xx[133] * xx[134];

  xx[340] = (xx[179] + xx[64]) * xx[80];

  xx[341] = xx[22] - (xx[33] + xx[182]) * xx[80];

  xx[342] = xx[80] * (xx[186] - xx[136]);

  pm_math_cross3(xx + 340, xx + 84, xx + 343);

  pm_math_quatXform(xx + 329, xx + 343, xx + 340);

  xx[33] = xx[44] * xx[103];

  xx[64] = xx[103] * xx[42];

  xx[133] = xx[64] - xx[99];

  xx[99] = xx[44] * xx[100];

  xx[343] = xx[33];

  xx[344] = xx[133];

  xx[345] = xx[99];

  pm_math_cross3(xx + 333, xx + 343, xx + 346);

  xx[134] = xx[44] * xx[72];

  xx[137] = xx[72] * xx[42];

  xx[179] = xx[274] - xx[137];

  xx[234] = xx[44] * xx[74];

  xx[343] = xx[134];

  xx[344] = - xx[179];

  xx[345] = xx[234];

  pm_math_cross3(xx + 333, xx + 343, xx + 349);

  xx[274] = xx[80] * (xx[349] + xx[134] * xx[40]);

  xx[134] = xx[80] * (xx[350] - xx[179] * xx[40]);

  xx[179] = (xx[234] * xx[40] + xx[351]) * xx[80];

  xx[343] = xx[100] + (xx[33] * xx[40] + xx[346]) * xx[80] + xx[274] + xx[74];

  xx[344] = (xx[133] * xx[40] + xx[347]) * xx[80] + xx[134];

  xx[345] = (xx[99] * xx[40] + xx[348]) * xx[80] + xx[179] - xx[103] - xx[72];

  pm_math_quatXform(xx + 287, xx + 343, xx + 346);

  xx[343] = xx[80] * (xx[181] - xx[180]);

  xx[344] = (xx[136] + xx[186]) * xx[80];

  xx[345] = xx[22] - (xx[182] + xx[31]) * xx[80];

  pm_math_cross3(xx + 343, xx + 84, xx + 180);

  pm_math_quatXform(xx + 329, xx + 180, xx + 343);

  xx[31] = xx[83] * xx[103];

  xx[33] = xx[83] * xx[219];

  xx[99] = xx[64] - xx[82];

  xx[180] = xx[31];

  xx[181] = xx[33];

  xx[182] = xx[99];

  pm_math_cross3(xx + 333, xx + 180, xx + 329);

  xx[64] = xx[83] * xx[72];

  xx[82] = xx[83] * xx[73];

  xx[100] = xx[137] + xx[237];

  xx[180] = xx[64];

  xx[181] = - xx[82];

  xx[182] = xx[100];

  pm_math_cross3(xx + 333, xx + 180, xx + 349);

  xx[133] = (xx[64] * xx[40] + xx[349]) * xx[80];

  xx[64] = xx[80] * (xx[350] - xx[82] * xx[40]);

  xx[82] = (xx[100] * xx[40] + xx[351]) * xx[80];

  xx[180] = (xx[31] * xx[40] + xx[329]) * xx[80] + xx[133] - xx[219] + xx[73];

  xx[181] = xx[103] + (xx[33] * xx[40] + xx[330]) * xx[80] + xx[64] + xx[72];

  xx[182] = (xx[99] * xx[40] + xx[331]) * xx[80] + xx[82];

  pm_math_quatXform(xx + 287, xx + 180, xx + 329);

  pm_math_quatCompose(xx + 320, xx + 215, xx + 349);

  xx[31] = xx[111] * xx[349] + xx[352] * xx[175];

  xx[33] = xx[111] * xx[350] - xx[351] * xx[175];

  xx[99] = xx[111] * xx[351] + xx[350] * xx[175];

  xx[100] = xx[111] * xx[352] - xx[349] * xx[175];

  xx[353] = xx[31];

  xx[354] = xx[33];

  xx[355] = xx[99];

  xx[356] = xx[100];

  xx[103] = xx[57] * xx[175];

  xx[136] = xx[80] * xx[111] * xx[103];

  xx[111] = xx[80] * xx[103] * xx[175] - xx[57];

  xx[180] = xx[74] * xx[136] + xx[55];

  xx[181] = xx[106] + xx[74] * xx[111];

  xx[182] = xx[73] * xx[111] - xx[72] * xx[136];

  pm_math_quatXform(xx + 353, xx + 180, xx + 357);

  xx[180] = - (xx[63] * xx[189]);

  xx[181] = xx[63] * xx[198] - xx[60];

  xx[182] = xx[57] * xx[189];

  pm_math_quatXform(xx + 215, xx + 180, xx + 360);

  xx[103] = xx[67] * xx[110];

  xx[111] = xx[138] * xx[67];

  xx[136] = xx[80] * (xx[103] * xx[174] - xx[111] * xx[173]);

  xx[137] = (xx[103] * xx[110] + xx[138] * xx[111]) * xx[80];

  xx[175] = (xx[111] * xx[174] + xx[103] * xx[173]) * xx[80];

  xx[180] = xx[360] + xx[136];

  xx[181] = xx[361] + xx[137] - xx[67];

  xx[182] = xx[362] - xx[175];

  pm_math_quatXform(xx + 320, xx + 180, xx + 360);

  xx[180] = xx[33];

  xx[181] = xx[99];

  xx[182] = xx[100];

  xx[103] = xx[72] * xx[100];

  xx[111] = xx[73] * xx[100];

  xx[100] = xx[72] * xx[33] - xx[99] * xx[73];

  xx[363] = - xx[103];

  xx[364] = xx[111];

  xx[365] = xx[100];

  pm_math_cross3(xx + 180, xx + 363, xx + 369);

  xx[33] = xx[80] * (xx[199] - xx[187]) - xx[87];

  xx[99] = (xx[188] + xx[193]) * xx[80] - xx[90];

  xx[180] = xx[352] * xx[99];

  xx[181] = xx[33] * xx[352];

  xx[182] = xx[350] * xx[99] - xx[33] * xx[351];

  xx[186] = - xx[180];

  xx[187] = xx[181];

  xx[188] = xx[182];

  pm_math_cross3(xx + 350, xx + 186, xx + 363);

  xx[186] = state[66] + xx[776];

  xx[187] = xx[186] * xx[2];

  xx[188] = cos(xx[187]);

  xx[189] = xx[188] * xx[125];

  xx[193] = sin(xx[187]);

  xx[187] = xx[225] * xx[193];

  xx[198] = - (xx[241] * xx[188] - xx[193] * xx[242]);

  xx[199] = xx[241] * xx[193] + xx[188] * xx[242];

  xx[219] = xx[225] * xx[188] - xx[193] * xx[125];

  xx[375] = - (xx[189] + xx[187]);

  xx[376] = xx[198];

  xx[377] = xx[199];

  xx[378] = xx[219];

  xx[380] = xx[250];

  xx[381] = xx[253];

  xx[382] = xx[252];

  xx[383] = xx[249];

  pm_math_quatDeriv(xx + 380, xx + 777, xx + 384);

  xx[234] = xx[249] + xx[387];

  xx[237] = xx[250] + xx[384];

  xx[249] = xx[253] + xx[385];

  xx[250] = xx[252] + xx[386];

  xx[252] = sqrt(xx[237] * xx[237] + xx[249] * xx[249] + xx[250] * xx[250] + xx

                 [234] * xx[234]);

  if (xx[28] > xx[252])

    xx[252] = xx[28];

  xx[253] = xx[234] / xx[252];

  xx[234] = xx[237] / xx[252];

  xx[237] = xx[21] * xx[253] - xx[25] * xx[234];

  xx[313] = xx[250] / xx[252];

  xx[250] = xx[249] / xx[252];

  xx[249] = xx[21] * xx[313] + xx[25] * xx[250];

  xx[252] = - xx[249];

  xx[332] = xx[25] * xx[313] - xx[21] * xx[250];

  xx[366] = - xx[332];

  xx[367] = xx[21] * xx[234] + xx[25] * xx[253];

  xx[372] = - xx[367];

  xx[380] = xx[237];

  xx[381] = xx[252];

  xx[382] = xx[366];

  xx[383] = xx[372];

  pm_math_quatCompose(xx + 375, xx + 380, xx + 384);

  xx[375] = (xx[332] * xx[237] + xx[249] * xx[367]) * xx[80];

  xx[376] = xx[80] * (xx[332] * xx[367] - xx[249] * xx[237]);

  xx[377] = xx[22] - (xx[249] * xx[249] + xx[332] * xx[332]) * xx[80];

  pm_math_cross3(xx + 375, xx + 267, xx + 388);

  pm_math_quatXform(xx + 384, xx + 388, xx + 375);

  pm_math_quatXform(xx + 380, xx + 126, xx + 384);

  xx[378] = xx[385] * xx[193] - xx[188] * xx[384];

  xx[387] = xx[266] * xx[193] - xx[270] * xx[188];

  xx[388] = xx[80] * xx[193] * xx[378] - (xx[385] + xx[80] * xx[387] * xx[193])

    + xx[266];

  xx[389] = xx[384] + xx[80] * xx[188] * xx[378] - xx[80] * xx[387] * xx[188] -

    xx[270];

  xx[378] = xx[389] * xx[242];

  xx[387] = xx[388] * xx[242];

  xx[390] = xx[389] * xx[125] + xx[225] * xx[388];

  xx[391] = xx[378];

  xx[392] = - xx[387];

  xx[393] = - xx[390];

  pm_math_cross3(xx + 275, xx + 391, xx + 394);

  xx[402] = - (xx[187] + xx[189]);

  xx[403] = xx[198];

  xx[404] = xx[199];

  xx[405] = xx[219];

  pm_math_quatCompose(xx + 402, xx + 380, xx + 416);

  pm_math_quatXform(xx + 416, xx + 280, xx + 275);

  pm_math_quatXform(xx + 380, xx + 167, xx + 391);

  pm_math_quatXform(xx + 402, xx + 391, xx + 406);

  pm_math_quatXform(xx + 416, xx + 297, xx + 391);

  pm_math_quatXform(xx + 380, xx + 176, xx + 420);

  pm_math_quatXform(xx + 402, xx + 420, xx + 380);

  xx[187] = xx[102] * xx[419];

  xx[189] = xx[102] * xx[417] + xx[123] * xx[418];

  xx[420] = - xx[187];

  xx[421] = - (xx[123] * xx[419]);

  xx[422] = xx[189];

  pm_math_cross3(xx + 417, xx + 420, xx + 423);

  xx[420] = xx[252];

  xx[421] = xx[366];

  xx[422] = xx[372];

  xx[198] = xx[117] * xx[367];

  xx[199] = xx[119] * xx[367];

  xx[219] = xx[117] * xx[249] + xx[332] * xx[119];

  xx[426] = xx[198];

  xx[427] = xx[199];

  xx[428] = - xx[219];

  pm_math_cross3(xx + 420, xx + 426, xx + 429);

  xx[420] = xx[80] * (xx[429] + xx[198] * xx[237]) - xx[119];

  xx[421] = xx[117] + (xx[199] * xx[237] + xx[430]) * xx[80];

  xx[422] = (xx[431] - xx[219] * xx[237]) * xx[80];

  pm_math_quatXform(xx + 402, xx + 420, xx + 426);

  xx[198] = state[45] + xx[768];

  xx[199] = xx[198] * xx[2];

  xx[219] = sin(xx[199]);

  xx[237] = xx[62] * xx[219];

  xx[249] = cos(xx[199]);

  xx[199] = xx[62] * xx[249];

  xx[252] = xx[237] - xx[199];

  xx[332] = xx[56] * xx[249];

  xx[249] = xx[56] * xx[219];

  xx[219] = xx[332] + xx[249];

  xx[366] = - xx[219];

  xx[367] = xx[249] - xx[332];

  xx[249] = xx[237] + xx[199];

  xx[199] = - xx[249];

  xx[429] = xx[252];

  xx[430] = xx[366];

  xx[431] = xx[367];

  xx[432] = xx[199];

  pm_math_quatCompose(xx + 215, xx + 429, xx + 433);

  pm_math_quatCompose(xx + 154, xx + 433, xx + 437);

  pm_math_quatCompose(xx + 150, xx + 437, xx + 441);

  pm_math_quatCompose(xx + 146, xx + 441, xx + 447);

  xx[420] = xx[80] * (xx[442] * xx[444] - xx[441] * xx[443]);

  xx[421] = (xx[441] * xx[442] + xx[443] * xx[444]) * xx[80];

  xx[422] = xx[22] - (xx[442] * xx[442] + xx[443] * xx[443]) * xx[80];

  pm_math_cross3(xx + 420, xx + 84, xx + 441);

  pm_math_quatXform(xx + 447, xx + 441, xx + 420);

  pm_math_quatXform(xx + 429, xx + 324, xx + 441);

  xx[237] = xx[243] - xx[441];

  xx[332] = xx[262] - xx[443];

  xx[447] = xx[237];

  xx[448] = - xx[442];

  xx[449] = xx[332];

  pm_math_quatXform(xx + 215, xx + 447, xx + 452);

  xx[372] = xx[452] - xx[236];

  xx[383] = xx[453] + xx[200];

  xx[397] = xx[454] - xx[233];

  xx[452] = xx[372];

  xx[453] = xx[383];

  xx[454] = xx[397];

  pm_math_quatXform(xx + 154, xx + 452, xx + 459);

  xx[398] = xx[459] + xx[220];

  xx[411] = xx[460] + xx[235];

  xx[412] = xx[461] + xx[238];

  xx[452] = xx[398];

  xx[453] = xx[411];

  xx[454] = xx[412];

  pm_math_quatXform(xx + 150, xx + 452, xx + 459);

  xx[441] = xx[460] + xx[246];

  xx[443] = xx[459] + xx[245];

  xx[444] = xx[441] * xx[35] - xx[443] * xx[32];

  xx[450] = xx[80] * xx[35] * xx[444] - (xx[441] - xx[259]) - xx[135];

  xx[441] = xx[443] + xx[80] * xx[32] * xx[444] + xx[248] - xx[131];

  xx[443] = xx[15] * xx[441];

  xx[444] = xx[15] * xx[450];

  xx[452] = xx[3] * xx[441] - xx[450] * xx[7];

  xx[453] = - xx[443];

  xx[454] = xx[444];

  xx[455] = xx[452];

  pm_math_cross3(xx + 139, xx + 453, xx + 459);

  pm_math_quatCompose(xx + 287, xx + 437, xx + 464);

  xx[453] = xx[4] * xx[440];

  xx[454] = xx[4] * xx[438] + xx[439];

  xx[468] = xx[453];

  xx[469] = xx[440];

  xx[470] = - xx[454];

  pm_math_cross3(xx + 438, xx + 468, xx + 474);

  xx[455] = xx[437] * xx[440];

  xx[468] = xx[22] + (xx[474] - xx[437] * xx[453]) * xx[80];

  xx[469] = xx[80] * (xx[475] - xx[455]) - xx[4];

  xx[470] = xx[80] * (xx[476] + xx[437] * xx[454]);

  pm_math_cross3(xx + 468, xx + 84, xx + 474);

  pm_math_quatXform(xx + 464, xx + 474, xx + 468);

  xx[454] = - (xx[412] * xx[4]);

  xx[474] = xx[454];

  xx[475] = - xx[412];

  xx[476] = xx[411] + xx[398] * xx[4];

  pm_math_quatXform(xx + 150, xx + 474, xx + 477);

  xx[474] = xx[477] + xx[263];

  xx[475] = xx[478] + xx[264];

  xx[476] = xx[479] + xx[265];

  pm_math_quatXform(xx + 283, xx + 474, xx + 477);

  xx[471] = xx[438] - xx[4] * xx[439];

  xx[474] = - xx[440];

  xx[475] = xx[453];

  xx[476] = xx[471];

  pm_math_cross3(xx + 438, xx + 474, xx + 480);

  xx[474] = xx[4] + (xx[455] + xx[480]) * xx[80];

  xx[475] = xx[22] + xx[80] * (xx[481] - xx[4] * xx[455]);

  xx[476] = xx[80] * (xx[482] - xx[437] * xx[471]);

  pm_math_cross3(xx + 474, xx + 84, xx + 480);

  pm_math_quatXform(xx + 464, xx + 480, xx + 474);

  xx[480] = xx[412];

  xx[481] = xx[454];

  xx[482] = xx[411] * xx[4] - xx[398];

  pm_math_quatXform(xx + 150, xx + 480, xx + 453);

  xx[480] = xx[453] + xx[46];

  xx[481] = xx[454] + xx[47];

  xx[482] = xx[455] + xx[48];

  pm_math_quatXform(xx + 283, xx + 480, xx + 453);

  xx[480] = xx[80] * (xx[438] * xx[440] - xx[437] * xx[439]);

  xx[481] = (xx[437] * xx[438] + xx[439] * xx[440]) * xx[80];

  xx[482] = xx[22] - (xx[438] * xx[438] + xx[439] * xx[439]) * xx[80];

  pm_math_cross3(xx + 480, xx + 84, xx + 437);

  pm_math_quatXform(xx + 464, xx + 437, xx + 480);

  xx[412] = xx[398] * xx[70];

  xx[437] = xx[411] * xx[70];

  xx[438] = xx[398] * xx[26] + xx[411] * xx[68];

  xx[464] = xx[412];

  xx[465] = xx[437];

  xx[466] = - xx[438];

  pm_math_cross3(xx + 183, xx + 464, xx + 483);

  xx[464] = xx[80] * (xx[483] + xx[412] * xx[24]) + xx[244] - xx[411] - xx[119];

  xx[465] = xx[398] + xx[80] * (xx[484] + xx[437] * xx[24]) + xx[69] + xx[117];

  xx[466] = (xx[485] - xx[438] * xx[24]) * xx[80] + xx[75];

  pm_math_quatXform(xx + 283, xx + 464, xx + 437);

  pm_math_quatCompose(xx + 320, xx + 433, xx + 464);

  xx[398] = xx[435] * xx[435];

  xx[411] = xx[436] * xx[436];

  xx[412] = xx[434] * xx[435];

  xx[440] = xx[433] * xx[436];

  xx[471] = xx[433] * xx[435];

  xx[472] = xx[434] * xx[436];

  xx[483] = xx[22] - (xx[398] + xx[411]) * xx[80];

  xx[484] = xx[80] * (xx[412] - xx[440]);

  xx[485] = (xx[471] + xx[472]) * xx[80];

  pm_math_cross3(xx + 483, xx + 84, xx + 486);

  pm_math_quatXform(xx + 464, xx + 486, xx + 483);

  xx[486] = xx[383] * xx[44];

  xx[487] = xx[397] * xx[83];

  xx[488] = xx[486] + xx[487];

  xx[489] = xx[383] * xx[42];

  xx[490] = xx[397] * xx[42];

  xx[491] = - xx[488];

  xx[492] = - xx[489];

  xx[493] = - xx[490];

  pm_math_cross3(xx + 333, xx + 491, xx + 494);

  xx[491] = xx[80] * (xx[494] - xx[488] * xx[40]) + xx[336];

  xx[492] = xx[80] * (xx[495] - xx[489] * xx[40]) + xx[278] - xx[397] - xx[74];

  xx[493] = xx[383] + xx[80] * (xx[496] - xx[490] * xx[40]) + xx[279] - xx[73];

  pm_math_quatXform(xx + 287, xx + 491, xx + 488);

  xx[491] = xx[434] * xx[434];

  xx[492] = xx[435] * xx[436];

  xx[435] = xx[433] * xx[434];

  xx[493] = (xx[440] + xx[412]) * xx[80];

  xx[494] = xx[22] - (xx[411] + xx[491]) * xx[80];

  xx[495] = xx[80] * (xx[492] - xx[435]);

  pm_math_cross3(xx + 493, xx + 84, xx + 496);

  pm_math_quatXform(xx + 464, xx + 496, xx + 493);

  xx[411] = xx[372] * xx[44];

  xx[412] = xx[372] * xx[42];

  xx[433] = xx[412] - xx[487];

  xx[434] = xx[397] * xx[44];

  xx[496] = xx[411];

  xx[497] = xx[433];

  xx[498] = xx[434];

  pm_math_cross3(xx + 333, xx + 496, xx + 503);

  xx[496] = xx[397] + (xx[411] * xx[40] + xx[503]) * xx[80] + xx[274] + xx[74];

  xx[497] = (xx[433] * xx[40] + xx[504]) * xx[80] + xx[134];

  xx[498] = (xx[434] * xx[40] + xx[505]) * xx[80] + xx[179] - xx[372] - xx[72];

  pm_math_quatXform(xx + 287, xx + 496, xx + 503);

  xx[496] = xx[80] * (xx[472] - xx[471]);

  xx[497] = (xx[435] + xx[492]) * xx[80];

  xx[498] = xx[22] - (xx[491] + xx[398]) * xx[80];

  pm_math_cross3(xx + 496, xx + 84, xx + 433);

  pm_math_quatXform(xx + 464, xx + 433, xx + 496);

  xx[397] = xx[372] * xx[83];

  xx[398] = xx[383] * xx[83];

  xx[411] = xx[412] - xx[486];

  xx[433] = xx[397];

  xx[434] = xx[398];

  xx[435] = xx[411];

  pm_math_cross3(xx + 333, xx + 433, xx + 464);

  xx[433] = (xx[397] * xx[40] + xx[464]) * xx[80] + xx[133] - xx[383] + xx[73];

  xx[434] = xx[372] + (xx[398] * xx[40] + xx[465]) * xx[80] + xx[64] + xx[72];

  xx[435] = (xx[411] * xx[40] + xx[466]) * xx[80] + xx[82];

  pm_math_quatXform(xx + 287, xx + 433, xx + 464);

  pm_math_quatCompose(xx + 349, xx + 429, xx + 433);

  xx[429] = xx[366];

  xx[430] = xx[367];

  xx[431] = xx[199];

  xx[199] = xx[63] * xx[367];

  xx[366] = xx[249] * xx[57] - xx[219] * xx[63];

  xx[372] = xx[57] * xx[367];

  xx[507] = - xx[199];

  xx[508] = xx[366];

  xx[509] = xx[372];

  pm_math_cross3(xx + 429, xx + 507, xx + 513);

  xx[507] = xx[80] * (xx[513] + xx[199] * xx[252]) - xx[57];

  xx[508] = xx[80] * (xx[514] - xx[366] * xx[252]);

  xx[509] = (xx[515] - xx[372] * xx[252]) * xx[80] - xx[63];

  pm_math_cross3(xx + 507, xx + 84, xx + 513);

  pm_math_quatXform(xx + 433, xx + 513, xx + 507);

  xx[513] = - (xx[63] * xx[442]);

  xx[514] = xx[57] * xx[332] - xx[63] * xx[237];

  xx[515] = xx[57] * xx[442];

  pm_math_quatXform(xx + 215, xx + 513, xx + 516);

  xx[513] = xx[516] + xx[136];

  xx[514] = xx[517] + xx[137] - xx[67];

  xx[515] = xx[518] - xx[175];

  pm_math_quatXform(xx + 320, xx + 513, xx + 516);

  xx[199] = xx[72] * xx[436];

  xx[237] = xx[73] * xx[435] - xx[72] * xx[434];

  xx[513] = xx[199];

  xx[514] = - (xx[73] * xx[436]);

  xx[515] = xx[237];

  pm_math_cross3(xx + 434, xx + 513, xx + 519);

  xx[332] = xx[249] * xx[254];

  xx[366] = xx[249] * xx[257];

  xx[249] = xx[257] * xx[367] - xx[219] * xx[254];

  xx[513] = xx[332];

  xx[514] = xx[366];

  xx[515] = xx[249];

  pm_math_cross3(xx + 429, xx + 513, xx + 522);

  xx[429] = xx[80] * (xx[522] + xx[332] * xx[252]) - xx[257];

  xx[430] = xx[254] + (xx[366] * xx[252] + xx[523]) * xx[80];

  xx[431] = (xx[249] * xx[252] + xx[524]) * xx[80];

  pm_math_quatXform(xx + 349, xx + 429, xx + 513);

  xx[219] = state[55] + xx[772];

  xx[249] = xx[219] * xx[2];

  xx[252] = cos(xx[249]);

  xx[332] = xx[224] * xx[252];

  xx[366] = sin(xx[249]);

  xx[249] = xx[366] * xx[256];

  xx[367] = - (xx[252] * xx[315] + xx[319] * xx[366]);

  xx[372] = xx[366] * xx[315] - xx[319] * xx[252];

  xx[383] = xx[224] * xx[366] + xx[252] * xx[256];

  xx[429] = xx[332] - xx[249];

  xx[430] = xx[367];

  xx[431] = xx[372];

  xx[432] = xx[383];

  xx[522] = xx[368];

  xx[523] = xx[374];

  xx[524] = xx[373];

  xx[525] = xx[328];

  pm_math_quatDeriv(xx + 522, xx + 773, xx + 526);

  xx[397] = xx[328] + xx[529];

  xx[328] = xx[368] + xx[526];

  xx[368] = xx[374] + xx[527];

  xx[374] = xx[373] + xx[528];

  xx[373] = sqrt(xx[328] * xx[328] + xx[368] * xx[368] + xx[374] * xx[374] + xx

                 [397] * xx[397]);

  if (xx[28] > xx[373])

    xx[373] = xx[28];

  xx[398] = xx[397] / xx[373];

  xx[397] = xx[328] / xx[373];

  xx[328] = xx[21] * xx[398] - xx[25] * xx[397];

  xx[411] = xx[374] / xx[373];

  xx[374] = xx[368] / xx[373];

  xx[368] = xx[21] * xx[411] + xx[25] * xx[374];

  xx[373] = - xx[368];

  xx[412] = xx[25] * xx[411] - xx[21] * xx[374];

  xx[440] = - xx[412];

  xx[442] = xx[21] * xx[397] + xx[25] * xx[398];

  xx[467] = - xx[442];

  xx[522] = xx[328];

  xx[523] = xx[373];

  xx[524] = xx[440];

  xx[525] = xx[467];

  pm_math_quatCompose(xx + 429, xx + 522, xx + 526);

  xx[429] = (xx[412] * xx[328] + xx[368] * xx[442]) * xx[80];

  xx[430] = xx[80] * (xx[412] * xx[442] - xx[368] * xx[328]);

  xx[431] = xx[22] - (xx[368] * xx[368] + xx[412] * xx[412]) * xx[80];

  pm_math_cross3(xx + 429, xx + 267, xx + 537);

  pm_math_quatXform(xx + 526, xx + 537, xx + 429);

  pm_math_quatXform(xx + 522, xx + 126, xx + 526);

  xx[432] = xx[527] * xx[366] - xx[252] * xx[526];

  xx[471] = xx[409] * xx[252] + xx[410] * xx[366];

  xx[472] = xx[80] * xx[366] * xx[432] - (xx[527] + xx[80] * xx[471] * xx[366])

    + xx[410];

  xx[486] = xx[526] + xx[80] * xx[252] * xx[432] - xx[80] * xx[471] * xx[252] +

    xx[409];

  xx[432] = xx[486] * xx[319];

  xx[471] = xx[472] * xx[319];

  xx[487] = xx[486] * xx[224] - xx[472] * xx[256];

  xx[529] = - xx[432];

  xx[530] = xx[471];

  xx[531] = xx[487];

  pm_math_cross3(xx + 413, xx + 529, xx + 537);

  xx[540] = - (xx[249] - xx[332]);

  xx[541] = xx[367];

  xx[542] = xx[372];

  xx[543] = xx[383];

  pm_math_quatCompose(xx + 540, xx + 522, xx + 555);

  pm_math_quatXform(xx + 555, xx + 280, xx + 413);

  pm_math_quatXform(xx + 522, xx + 167, xx + 529);

  pm_math_quatXform(xx + 540, xx + 529, xx + 544);

  pm_math_quatXform(xx + 555, xx + 297, xx + 529);

  pm_math_quatXform(xx + 522, xx + 176, xx + 549);

  pm_math_quatXform(xx + 540, xx + 549, xx + 522);

  xx[249] = xx[102] * xx[558];

  xx[332] = xx[102] * xx[556] + xx[123] * xx[557];

  xx[549] = - xx[249];

  xx[550] = - (xx[123] * xx[558]);

  xx[551] = xx[332];

  pm_math_cross3(xx + 556, xx + 549, xx + 559);

  xx[549] = xx[373];

  xx[550] = xx[440];

  xx[551] = xx[467];

  xx[367] = xx[117] * xx[442];

  xx[372] = xx[119] * xx[442];

  xx[373] = xx[117] * xx[368] + xx[412] * xx[119];

  xx[562] = xx[367];

  xx[563] = xx[372];

  xx[564] = - xx[373];

  pm_math_cross3(xx + 549, xx + 562, xx + 565);

  xx[549] = xx[80] * (xx[565] + xx[367] * xx[328]) - xx[119];

  xx[550] = xx[117] + (xx[372] * xx[328] + xx[566]) * xx[80];

  xx[551] = (xx[567] - xx[373] * xx[328]) * xx[80];

  pm_math_quatXform(xx + 540, xx + 549, xx + 562);

  xx[328] = state[47] + xx[769];

  xx[367] = xx[328] * xx[2];

  xx[368] = cos(xx[367]);

  xx[372] = xx[312] * xx[368];

  xx[373] = sin(xx[367]);

  xx[367] = xx[312] * xx[373];

  xx[383] = xx[372] + xx[367];

  xx[412] = xx[379] * xx[373];

  xx[373] = xx[379] * xx[368];

  xx[368] = xx[412] - xx[373];

  xx[440] = xx[373] + xx[412];

  xx[373] = - xx[440];

  xx[412] = xx[367] - xx[372];

  xx[565] = - xx[383];

  xx[566] = xx[368];

  xx[567] = xx[373];

  xx[568] = xx[412];

  pm_math_quatCompose(xx + 215, xx + 565, xx + 569);

  pm_math_quatCompose(xx + 154, xx + 569, xx + 573);

  pm_math_quatCompose(xx + 150, xx + 573, xx + 577);

  pm_math_quatCompose(xx + 146, xx + 577, xx + 585);

  xx[549] = xx[80] * (xx[578] * xx[580] - xx[577] * xx[579]);

  xx[550] = (xx[577] * xx[578] + xx[579] * xx[580]) * xx[80];

  xx[551] = xx[22] - (xx[578] * xx[578] + xx[579] * xx[579]) * xx[80];

  pm_math_cross3(xx + 549, xx + 84, xx + 577);

  pm_math_quatXform(xx + 585, xx + 577, xx + 549);

  pm_math_quatXform(xx + 565, xx + 456, xx + 577);

  xx[367] = xx[314] + xx[577];

  xx[372] = xx[462] - xx[579];

  xx[579] = - xx[367];

  xx[580] = - xx[578];

  xx[581] = xx[372];

  pm_math_quatXform(xx + 215, xx + 579, xx + 585);

  xx[442] = xx[585] - xx[236];

  xx[467] = xx[586] + xx[200];

  xx[491] = xx[587] - xx[233];

  xx[585] = xx[442];

  xx[586] = xx[467];

  xx[587] = xx[491];

  pm_math_quatXform(xx + 154, xx + 585, xx + 588);

  xx[492] = xx[588] + xx[220];

  xx[499] = xx[589] + xx[235];

  xx[500] = xx[590] + xx[238];

  xx[585] = xx[492];

  xx[586] = xx[499];

  xx[587] = xx[500];

  pm_math_quatXform(xx + 150, xx + 585, xx + 588);

  xx[510] = xx[589] + xx[246];

  xx[525] = xx[588] + xx[245];

  xx[577] = xx[510] * xx[35] - xx[525] * xx[32];

  xx[582] = xx[80] * xx[35] * xx[577] - (xx[510] - xx[259]) - xx[135];

  xx[510] = xx[525] + xx[80] * xx[32] * xx[577] + xx[248] - xx[131];

  xx[525] = xx[510] * xx[15];

  xx[577] = xx[582] * xx[15];

  xx[583] = xx[510] * xx[3] - xx[582] * xx[7];

  xx[585] = - xx[525];

  xx[586] = xx[577];

  xx[587] = xx[583];

  pm_math_cross3(xx + 139, xx + 585, xx + 588);

  pm_math_quatCompose(xx + 287, xx + 573, xx + 602);

  xx[585] = xx[4] * xx[576];

  xx[586] = xx[4] * xx[574] + xx[575];

  xx[591] = xx[585];

  xx[592] = xx[576];

  xx[593] = - xx[586];

  pm_math_cross3(xx + 574, xx + 591, xx + 598);

  xx[587] = xx[573] * xx[576];

  xx[591] = xx[22] + (xx[598] - xx[573] * xx[585]) * xx[80];

  xx[592] = xx[80] * (xx[599] - xx[587]) - xx[4];

  xx[593] = xx[80] * (xx[600] + xx[573] * xx[586]);

  pm_math_cross3(xx + 591, xx + 84, xx + 598);

  pm_math_quatXform(xx + 602, xx + 598, xx + 591);

  xx[586] = - (xx[500] * xx[4]);

  xx[598] = xx[586];

  xx[599] = - xx[500];

  xx[600] = xx[499] + xx[492] * xx[4];

  pm_math_quatXform(xx + 150, xx + 598, xx + 606);

  xx[598] = xx[606] + xx[263];

  xx[599] = xx[607] + xx[264];

  xx[600] = xx[608] + xx[265];

  pm_math_quatXform(xx + 283, xx + 598, xx + 606);

  xx[598] = xx[574] - xx[4] * xx[575];

  xx[610] = - xx[576];

  xx[611] = xx[585];

  xx[612] = xx[598];

  pm_math_cross3(xx + 574, xx + 610, xx + 613);

  xx[610] = xx[4] + (xx[587] + xx[613]) * xx[80];

  xx[611] = xx[22] + xx[80] * (xx[614] - xx[4] * xx[587]);

  xx[612] = xx[80] * (xx[615] - xx[573] * xx[598]);

  pm_math_cross3(xx + 610, xx + 84, xx + 598);

  pm_math_quatXform(xx + 602, xx + 598, xx + 610);

  xx[598] = xx[500];

  xx[599] = xx[586];

  xx[600] = xx[499] * xx[4] - xx[492];

  pm_math_quatXform(xx + 150, xx + 598, xx + 585);

  xx[598] = xx[585] + xx[46];

  xx[599] = xx[586] + xx[47];

  xx[600] = xx[587] + xx[48];

  pm_math_quatXform(xx + 283, xx + 598, xx + 585);

  xx[598] = xx[80] * (xx[574] * xx[576] - xx[573] * xx[575]);

  xx[599] = (xx[573] * xx[574] + xx[575] * xx[576]) * xx[80];

  xx[600] = xx[22] - (xx[574] * xx[574] + xx[575] * xx[575]) * xx[80];

  pm_math_cross3(xx + 598, xx + 84, xx + 573);

  pm_math_quatXform(xx + 602, xx + 573, xx + 598);

  xx[500] = xx[492] * xx[70];

  xx[573] = xx[499] * xx[70];

  xx[574] = xx[492] * xx[26] + xx[499] * xx[68];

  xx[602] = xx[500];

  xx[603] = xx[573];

  xx[604] = - xx[574];

  pm_math_cross3(xx + 183, xx + 602, xx + 613);

  xx[602] = xx[80] * (xx[613] + xx[500] * xx[24]) + xx[244] - xx[499] - xx[119];

  xx[603] = xx[492] + xx[80] * (xx[614] + xx[573] * xx[24]) + xx[69] + xx[117];

  xx[604] = (xx[615] - xx[574] * xx[24]) * xx[80] + xx[75];

  pm_math_quatXform(xx + 283, xx + 602, xx + 573);

  pm_math_quatCompose(xx + 320, xx + 569, xx + 602);

  xx[492] = xx[571] * xx[571];

  xx[499] = xx[572] * xx[572];

  xx[500] = xx[570] * xx[571];

  xx[576] = xx[569] * xx[572];

  xx[613] = xx[569] * xx[571];

  xx[614] = xx[570] * xx[572];

  xx[615] = xx[22] - (xx[492] + xx[499]) * xx[80];

  xx[616] = xx[80] * (xx[500] - xx[576]);

  xx[617] = (xx[613] + xx[614]) * xx[80];

  pm_math_cross3(xx + 615, xx + 84, xx + 618);

  pm_math_quatXform(xx + 602, xx + 618, xx + 615);

  xx[618] = xx[467] * xx[44];

  xx[619] = xx[491] * xx[83];

  xx[620] = xx[618] + xx[619];

  xx[621] = xx[467] * xx[42];

  xx[622] = xx[491] * xx[42];

  xx[623] = - xx[620];

  xx[624] = - xx[621];

  xx[625] = - xx[622];

  pm_math_cross3(xx + 333, xx + 623, xx + 626);

  xx[623] = xx[80] * (xx[626] - xx[620] * xx[40]) + xx[336];

  xx[624] = xx[80] * (xx[627] - xx[621] * xx[40]) + xx[278] - xx[491] - xx[74];

  xx[625] = xx[467] + xx[80] * (xx[628] - xx[622] * xx[40]) + xx[279] - xx[73];

  pm_math_quatXform(xx + 287, xx + 623, xx + 620);

  xx[623] = xx[570] * xx[570];

  xx[624] = xx[571] * xx[572];

  xx[571] = xx[569] * xx[570];

  xx[625] = (xx[576] + xx[500]) * xx[80];

  xx[626] = xx[22] - (xx[499] + xx[623]) * xx[80];

  xx[627] = xx[80] * (xx[624] - xx[571]);

  pm_math_cross3(xx + 625, xx + 84, xx + 628);

  pm_math_quatXform(xx + 602, xx + 628, xx + 625);

  xx[499] = xx[442] * xx[44];

  xx[500] = xx[442] * xx[42];

  xx[569] = xx[500] - xx[619];

  xx[570] = xx[491] * xx[44];

  xx[628] = xx[499];

  xx[629] = xx[569];

  xx[630] = xx[570];

  pm_math_cross3(xx + 333, xx + 628, xx + 631);

  xx[628] = xx[491] + (xx[499] * xx[40] + xx[631]) * xx[80] + xx[274] + xx[74];

  xx[629] = (xx[569] * xx[40] + xx[632]) * xx[80] + xx[134];

  xx[630] = (xx[570] * xx[40] + xx[633]) * xx[80] + xx[179] - xx[442] - xx[72];

  pm_math_quatXform(xx + 287, xx + 628, xx + 631);

  xx[628] = xx[80] * (xx[614] - xx[613]);

  xx[629] = (xx[571] + xx[624]) * xx[80];

  xx[630] = xx[22] - (xx[623] + xx[492]) * xx[80];

  pm_math_cross3(xx + 628, xx + 84, xx + 569);

  pm_math_quatXform(xx + 602, xx + 569, xx + 628);

  xx[491] = xx[442] * xx[83];

  xx[492] = xx[467] * xx[83];

  xx[499] = xx[500] - xx[618];

  xx[569] = xx[491];

  xx[570] = xx[492];

  xx[571] = xx[499];

  pm_math_cross3(xx + 333, xx + 569, xx + 602);

  xx[569] = (xx[491] * xx[40] + xx[602]) * xx[80] + xx[133] - xx[467] + xx[73];

  xx[570] = xx[442] + (xx[492] * xx[40] + xx[603]) * xx[80] + xx[64] + xx[72];

  xx[571] = (xx[499] * xx[40] + xx[604]) * xx[80] + xx[82];

  pm_math_quatXform(xx + 287, xx + 569, xx + 602);

  pm_math_quatCompose(xx + 349, xx + 565, xx + 569);

  xx[565] = xx[368];

  xx[566] = xx[373];

  xx[567] = xx[412];

  xx[373] = xx[440] * xx[63];

  xx[442] = xx[63] * xx[368] - xx[57] * xx[412];

  xx[467] = xx[440] * xx[57];

  xx[634] = xx[373];

  xx[635] = xx[442];

  xx[636] = - xx[467];

  pm_math_cross3(xx + 565, xx + 634, xx + 639);

  xx[634] = xx[80] * (xx[639] + xx[383] * xx[373]) - xx[57];

  xx[635] = xx[80] * (xx[640] + xx[383] * xx[442]);

  xx[636] = (xx[641] - xx[383] * xx[467]) * xx[80] - xx[63];

  pm_math_cross3(xx + 634, xx + 84, xx + 639);

  pm_math_quatXform(xx + 569, xx + 639, xx + 634);

  xx[639] = - (xx[63] * xx[578]);

  xx[640] = xx[63] * xx[367] + xx[57] * xx[372];

  xx[641] = xx[57] * xx[578];

  pm_math_quatXform(xx + 215, xx + 639, xx + 644);

  xx[639] = xx[644] + xx[136];

  xx[640] = xx[645] + xx[137] - xx[67];

  xx[641] = xx[646] - xx[175];

  pm_math_quatXform(xx + 320, xx + 639, xx + 644);

  xx[367] = xx[72] * xx[572];

  xx[372] = xx[72] * xx[570] - xx[73] * xx[571];

  xx[639] = - xx[367];

  xx[640] = xx[73] * xx[572];

  xx[641] = xx[372];

  pm_math_cross3(xx + 570, xx + 639, xx + 649);

  xx[373] = xx[327] * xx[412];

  xx[442] = xx[401] * xx[412];

  xx[412] = xx[327] * xx[368] + xx[440] * xx[401];

  xx[639] = - xx[373];

  xx[640] = xx[442];

  xx[641] = xx[412];

  pm_math_cross3(xx + 565, xx + 639, xx + 652);

  xx[565] = xx[401] + xx[80] * (xx[652] + xx[383] * xx[373]);

  xx[566] = xx[327] + (xx[653] - xx[383] * xx[442]) * xx[80];

  xx[567] = (xx[654] - xx[383] * xx[412]) * xx[80];

  pm_math_quatXform(xx + 349, xx + 565, xx + 639);

  xx[368] = state[77] + xx[780];

  xx[373] = xx[368] * xx[2];

  xx[383] = cos(xx[373]);

  xx[412] = xx[383] * xx[400];

  xx[440] = sin(xx[373]);

  xx[373] = xx[451] * xx[440];

  xx[442] = - (xx[501] * xx[383] - xx[440] * xx[502]);

  xx[467] = xx[501] * xx[440] + xx[383] * xx[502];

  xx[491] = xx[440] * xx[400] + xx[451] * xx[383];

  xx[565] = xx[412] - xx[373];

  xx[566] = xx[442];

  xx[567] = xx[467];

  xx[568] = xx[491];

  xx[652] = xx[512];

  xx[653] = xx[534];

  xx[654] = xx[533];

  xx[655] = xx[511];

  pm_math_quatDeriv(xx + 652, xx + 781, xx + 656);

  xx[492] = xx[511] + xx[659];

  xx[499] = xx[512] + xx[656];

  xx[500] = xx[534] + xx[657];

  xx[511] = xx[533] + xx[658];

  xx[512] = sqrt(xx[499] * xx[499] + xx[500] * xx[500] + xx[511] * xx[511] + xx

                 [492] * xx[492]);

  if (xx[28] > xx[512])

    xx[512] = xx[28];

  xx[533] = xx[492] / xx[512];

  xx[492] = xx[499] / xx[512];

  xx[499] = xx[21] * xx[533] - xx[25] * xx[492];

  xx[534] = xx[511] / xx[512];

  xx[511] = xx[500] / xx[512];

  xx[500] = xx[21] * xx[534] + xx[25] * xx[511];

  xx[512] = - xx[500];

  xx[576] = xx[25] * xx[534] - xx[21] * xx[511];

  xx[578] = - xx[576];

  xx[605] = xx[21] * xx[492] + xx[25] * xx[533];

  xx[613] = - xx[605];

  xx[652] = xx[499];

  xx[653] = xx[512];

  xx[654] = xx[578];

  xx[655] = xx[613];

  pm_math_quatCompose(xx + 565, xx + 652, xx + 656);

  xx[565] = (xx[576] * xx[499] + xx[605] * xx[500]) * xx[80];

  xx[566] = xx[80] * (xx[576] * xx[605] - xx[499] * xx[500]);

  xx[567] = xx[22] - (xx[500] * xx[500] + xx[576] * xx[576]) * xx[80];

  pm_math_cross3(xx + 565, xx + 267, xx + 660);

  pm_math_quatXform(xx + 656, xx + 660, xx + 565);

  pm_math_quatXform(xx + 652, xx + 126, xx + 656);

  xx[568] = xx[657] * xx[440] - xx[383] * xx[656];

  xx[614] = xx[547] * xx[383] + xx[548] * xx[440];

  xx[618] = xx[80] * xx[440] * xx[568] - (xx[657] - xx[80] * xx[614] * xx[440])

    - xx[548];

  xx[619] = xx[656] + xx[80] * xx[383] * xx[568] + xx[80] * xx[614] * xx[383] -

    xx[547];

  xx[568] = xx[619] * xx[502];

  xx[614] = xx[618] * xx[502];

  xx[623] = xx[619] * xx[400] - xx[618] * xx[451];

  xx[659] = xx[568];

  xx[660] = - xx[614];

  xx[661] = xx[623];

  pm_math_cross3(xx + 552, xx + 659, xx + 662);

  xx[676] = - (xx[373] - xx[412]);

  xx[677] = xx[442];

  xx[678] = xx[467];

  xx[679] = xx[491];

  pm_math_quatCompose(xx + 676, xx + 652, xx + 692);

  pm_math_quatXform(xx + 692, xx + 280, xx + 552);

  pm_math_quatXform(xx + 652, xx + 167, xx + 659);

  pm_math_quatXform(xx + 676, xx + 659, xx + 665);

  pm_math_quatXform(xx + 692, xx + 297, xx + 659);

  pm_math_quatXform(xx + 652, xx + 176, xx + 681);

  pm_math_quatXform(xx + 676, xx + 681, xx + 652);

  xx[373] = xx[102] * xx[695];

  xx[412] = xx[102] * xx[693] + xx[123] * xx[694];

  xx[681] = - xx[373];

  xx[682] = - (xx[123] * xx[695]);

  xx[683] = xx[412];

  pm_math_cross3(xx + 693, xx + 681, xx + 686);

  xx[681] = xx[512];

  xx[682] = xx[578];

  xx[683] = xx[613];

  xx[442] = xx[117] * xx[605];

  xx[467] = xx[119] * xx[605];

  xx[491] = xx[117] * xx[500] + xx[576] * xx[119];

  xx[696] = xx[442];

  xx[697] = xx[467];

  xx[698] = - xx[491];

  pm_math_cross3(xx + 681, xx + 696, xx + 699);

  xx[681] = xx[80] * (xx[699] + xx[442] * xx[499]) - xx[119];

  xx[682] = xx[117] + (xx[467] * xx[499] + xx[700]) * xx[80];

  xx[683] = (xx[701] - xx[491] * xx[499]) * xx[80];

  pm_math_quatXform(xx + 676, xx + 681, xx + 696);

  xx[442] = state[49] + xx[770];

  xx[467] = xx[442] * xx[2];

  xx[491] = cos(xx[467]);

  xx[499] = xx[312] * xx[491];

  xx[500] = sin(xx[467]);

  xx[467] = xx[312] * xx[500];

  xx[512] = xx[499] + xx[467];

  xx[576] = xx[379] * xx[491];

  xx[491] = xx[379] * xx[500];

  xx[500] = xx[576] - xx[491];

  xx[578] = xx[576] + xx[491];

  xx[491] = xx[499] - xx[467];

  xx[699] = xx[512];

  xx[700] = xx[500];

  xx[701] = xx[578];

  xx[702] = xx[491];

  pm_math_quatCompose(xx + 215, xx + 699, xx + 703);

  pm_math_quatCompose(xx + 154, xx + 703, xx + 707);

  pm_math_quatCompose(xx + 150, xx + 707, xx + 711);

  pm_math_quatCompose(xx + 146, xx + 711, xx + 715);

  xx[681] = xx[80] * (xx[712] * xx[714] - xx[711] * xx[713]);

  xx[682] = (xx[711] * xx[712] + xx[713] * xx[714]) * xx[80];

  xx[683] = xx[22] - (xx[712] * xx[712] + xx[713] * xx[713]) * xx[80];

  pm_math_cross3(xx + 681, xx + 84, xx + 711);

  pm_math_quatXform(xx + 715, xx + 711, xx + 681);

  pm_math_quatXform(xx + 699, xx + 595, xx + 711);

  xx[467] = xx[446] + xx[711];

  xx[499] = xx[601] - xx[713];

  xx[713] = - xx[467];

  xx[714] = - xx[712];

  xx[715] = xx[499];

  pm_math_quatXform(xx + 215, xx + 713, xx + 716);

  xx[576] = xx[716] - xx[236];

  xx[605] = xx[717] + xx[200];

  xx[613] = xx[718] - xx[233];

  xx[716] = xx[576];

  xx[717] = xx[605];

  xx[718] = xx[613];

  pm_math_quatXform(xx + 154, xx + 716, xx + 723);

  xx[624] = xx[723] + xx[220];

  xx[655] = xx[724] + xx[235];

  xx[669] = xx[725] + xx[238];

  xx[716] = xx[624];

  xx[717] = xx[655];

  xx[718] = xx[669];

  pm_math_quatXform(xx + 150, xx + 716, xx + 723);

  xx[673] = xx[724] + xx[246];

  xx[674] = xx[723] + xx[245];

  xx[711] = xx[673] * xx[35] - xx[674] * xx[32];

  xx[716] = xx[80] * xx[35] * xx[711] - (xx[673] - xx[259]) - xx[135];

  xx[673] = xx[674] + xx[80] * xx[32] * xx[711] + xx[248] - xx[131];

  xx[674] = xx[673] * xx[15];

  xx[711] = xx[716] * xx[15];

  xx[717] = xx[673] * xx[3] - xx[716] * xx[7];

  xx[723] = - xx[674];

  xx[724] = xx[711];

  xx[725] = xx[717];

  pm_math_cross3(xx + 139, xx + 723, xx + 726);

  pm_math_quatCompose(xx + 287, xx + 707, xx + 734);

  xx[718] = xx[4] * xx[710];

  xx[719] = xx[4] * xx[708] + xx[709];

  xx[723] = xx[718];

  xx[724] = xx[710];

  xx[725] = - xx[719];

  pm_math_cross3(xx + 708, xx + 723, xx + 739);

  xx[723] = xx[707] * xx[710];

  xx[742] = xx[22] + (xx[739] - xx[707] * xx[718]) * xx[80];

  xx[743] = xx[80] * (xx[740] - xx[723]) - xx[4];

  xx[744] = xx[80] * (xx[741] + xx[707] * xx[719]);

  pm_math_cross3(xx + 742, xx + 84, xx + 739);

  pm_math_quatXform(xx + 734, xx + 739, xx + 742);

  xx[719] = - (xx[669] * xx[4]);

  xx[739] = xx[719];

  xx[740] = - xx[669];

  xx[741] = xx[655] + xx[624] * xx[4];

  pm_math_quatXform(xx + 150, xx + 739, xx + 748);

  xx[739] = xx[748] + xx[263];

  xx[740] = xx[749] + xx[264];

  xx[741] = xx[750] + xx[265];

  pm_math_quatXform(xx + 283, xx + 739, xx + 748);

  xx[724] = xx[708] - xx[4] * xx[709];

  xx[739] = - xx[710];

  xx[740] = xx[718];

  xx[741] = xx[724];

  pm_math_cross3(xx + 708, xx + 739, xx + 792);

  xx[739] = xx[4] + (xx[723] + xx[792]) * xx[80];

  xx[740] = xx[22] + xx[80] * (xx[793] - xx[4] * xx[723]);

  xx[741] = xx[80] * (xx[794] - xx[707] * xx[724]);

  pm_math_cross3(xx + 739, xx + 84, xx + 723);

  pm_math_quatXform(xx + 734, xx + 723, xx + 739);

  xx[723] = xx[669];

  xx[724] = xx[719];

  xx[725] = xx[655] * xx[4] - xx[624];

  pm_math_quatXform(xx + 150, xx + 723, xx + 792);

  xx[723] = xx[792] + xx[46];

  xx[724] = xx[793] + xx[47];

  xx[725] = xx[794] + xx[48];

  pm_math_quatXform(xx + 283, xx + 723, xx + 792);

  xx[723] = xx[80] * (xx[708] * xx[710] - xx[707] * xx[709]);

  xx[724] = (xx[707] * xx[708] + xx[709] * xx[710]) * xx[80];

  xx[725] = xx[22] - (xx[708] * xx[708] + xx[709] * xx[709]) * xx[80];

  pm_math_cross3(xx + 723, xx + 84, xx + 707);

  pm_math_quatXform(xx + 734, xx + 707, xx + 723);

  xx[669] = xx[624] * xx[70];

  xx[707] = xx[655] * xx[70];

  xx[708] = xx[624] * xx[26] + xx[655] * xx[68];

  xx[734] = xx[669];

  xx[735] = xx[707];

  xx[736] = - xx[708];

  pm_math_cross3(xx + 183, xx + 734, xx + 795);

  xx[734] = xx[80] * (xx[795] + xx[669] * xx[24]) + xx[244] - xx[655] - xx[119];

  xx[735] = xx[624] + xx[80] * (xx[796] + xx[707] * xx[24]) + xx[69] + xx[117];

  xx[736] = (xx[797] - xx[708] * xx[24]) * xx[80] + xx[75];

  pm_math_quatXform(xx + 283, xx + 734, xx + 707);

  pm_math_quatCompose(xx + 320, xx + 703, xx + 734);

  xx[624] = xx[705] * xx[705];

  xx[655] = xx[706] * xx[706];

  xx[669] = xx[704] * xx[705];

  xx[710] = xx[703] * xx[706];

  xx[718] = xx[703] * xx[705];

  xx[719] = xx[704] * xx[706];

  xx[795] = xx[22] - (xx[624] + xx[655]) * xx[80];

  xx[796] = xx[80] * (xx[669] - xx[710]);

  xx[797] = (xx[718] + xx[719]) * xx[80];

  pm_math_cross3(xx + 795, xx + 84, xx + 798);

  pm_math_quatXform(xx + 734, xx + 798, xx + 795);

  xx[731] = xx[605] * xx[44];

  xx[745] = xx[613] * xx[83];

  xx[751] = xx[731] + xx[745];

  xx[788] = xx[605] * xx[42];

  xx[789] = xx[613] * xx[42];

  xx[798] = - xx[751];

  xx[799] = - xx[788];

  xx[800] = - xx[789];

  pm_math_cross3(xx + 333, xx + 798, xx + 801);

  xx[798] = xx[80] * (xx[801] - xx[751] * xx[40]) + xx[336];

  xx[799] = xx[80] * (xx[802] - xx[788] * xx[40]) + xx[278] - xx[613] - xx[74];

  xx[800] = xx[605] + xx[80] * (xx[803] - xx[789] * xx[40]) + xx[279] - xx[73];

  pm_math_quatXform(xx + 287, xx + 798, xx + 801);

  xx[751] = xx[704] * xx[704];

  xx[788] = xx[705] * xx[706];

  xx[705] = xx[703] * xx[704];

  xx[798] = (xx[710] + xx[669]) * xx[80];

  xx[799] = xx[22] - (xx[655] + xx[751]) * xx[80];

  xx[800] = xx[80] * (xx[788] - xx[705]);

  pm_math_cross3(xx + 798, xx + 84, xx + 804);

  pm_math_quatXform(xx + 734, xx + 804, xx + 798);

  xx[655] = xx[576] * xx[44];

  xx[669] = xx[576] * xx[42];

  xx[703] = xx[669] - xx[745];

  xx[704] = xx[613] * xx[44];

  xx[804] = xx[655];

  xx[805] = xx[703];

  xx[806] = xx[704];

  pm_math_cross3(xx + 333, xx + 804, xx + 807);

  xx[804] = xx[613] + (xx[655] * xx[40] + xx[807]) * xx[80] + xx[274] + xx[74];

  xx[805] = (xx[703] * xx[40] + xx[808]) * xx[80] + xx[134];

  xx[806] = (xx[704] * xx[40] + xx[809]) * xx[80] + xx[179] - xx[576] - xx[72];

  pm_math_quatXform(xx + 287, xx + 804, xx + 807);

  xx[804] = xx[80] * (xx[719] - xx[718]);

  xx[805] = (xx[705] + xx[788]) * xx[80];

  xx[806] = xx[22] - (xx[751] + xx[624]) * xx[80];

  pm_math_cross3(xx + 804, xx + 84, xx + 703);

  pm_math_quatXform(xx + 734, xx + 703, xx + 804);

  xx[613] = xx[576] * xx[83];

  xx[624] = xx[605] * xx[83];

  xx[655] = xx[669] - xx[731];

  xx[703] = xx[613];

  xx[704] = xx[624];

  xx[705] = xx[655];

  pm_math_cross3(xx + 333, xx + 703, xx + 734);

  xx[703] = (xx[613] * xx[40] + xx[734]) * xx[80] + xx[133] - xx[605] + xx[73];

  xx[704] = xx[576] + (xx[624] * xx[40] + xx[735]) * xx[80] + xx[64] + xx[72];

  xx[705] = (xx[655] * xx[40] + xx[736]) * xx[80] + xx[82];

  pm_math_quatXform(xx + 287, xx + 703, xx + 734);

  pm_math_quatCompose(xx + 349, xx + 699, xx + 703);

  xx[699] = xx[500];

  xx[700] = xx[578];

  xx[701] = xx[491];

  xx[576] = xx[578] * xx[63];

  xx[605] = xx[63] * xx[500] - xx[57] * xx[491];

  xx[613] = xx[578] * xx[57];

  xx[810] = - xx[576];

  xx[811] = xx[605];

  xx[812] = xx[613];

  pm_math_cross3(xx + 699, xx + 810, xx + 813);

  xx[810] = xx[80] * (xx[813] + xx[512] * xx[576]) - xx[57];

  xx[811] = xx[80] * (xx[814] - xx[512] * xx[605]);

  xx[812] = (xx[815] - xx[512] * xx[613]) * xx[80] - xx[63];

  pm_math_cross3(xx + 810, xx + 84, xx + 813);

  pm_math_quatXform(xx + 703, xx + 813, xx + 810);

  xx[813] = - (xx[63] * xx[712]);

  xx[814] = xx[63] * xx[467] + xx[57] * xx[499];

  xx[815] = xx[57] * xx[712];

  pm_math_quatXform(xx + 215, xx + 813, xx + 816);

  xx[813] = xx[816] + xx[136];

  xx[814] = xx[817] + xx[137] - xx[67];

  xx[815] = xx[818] - xx[175];

  pm_math_quatXform(xx + 320, xx + 813, xx + 816);

  xx[467] = xx[72] * xx[706];

  xx[499] = xx[72] * xx[704] - xx[73] * xx[705];

  xx[813] = - xx[467];

  xx[814] = xx[73] * xx[706];

  xx[815] = xx[499];

  pm_math_cross3(xx + 704, xx + 813, xx + 819);

  xx[576] = xx[506] * xx[491];

  xx[605] = xx[535] * xx[491];

  xx[491] = xx[506] * xx[500] + xx[578] * xx[535];

  xx[813] = xx[576];

  xx[814] = xx[605];

  xx[815] = - xx[491];

  pm_math_cross3(xx + 699, xx + 813, xx + 822);

  xx[699] = xx[535] + xx[80] * (xx[822] + xx[512] * xx[576]);

  xx[700] = (xx[512] * xx[605] + xx[823]) * xx[80] - xx[506];

  xx[701] = (xx[824] - xx[512] * xx[491]) * xx[80];

  pm_math_quatXform(xx + 349, xx + 699, xx + 813);

  xx[491] = state[88] + xx[784];

  xx[500] = xx[491] * xx[2];

  xx[512] = cos(xx[500]);

  xx[576] = xx[512] * xx[536];

  xx[578] = sin(xx[500]);

  xx[500] = xx[594] * xx[578];

  xx[605] = - (xx[638] * xx[512] + xx[578] * xx[642]);

  xx[613] = xx[638] * xx[578] - xx[512] * xx[642];

  xx[624] = xx[594] * xx[512] - xx[578] * xx[536];

  xx[699] = - (xx[576] + xx[500]);

  xx[700] = xx[605];

  xx[701] = xx[613];

  xx[702] = xx[624];

  xx[822] = xx[668];

  xx[823] = xx[671];

  xx[824] = xx[670];

  xx[825] = xx[648];

  pm_math_quatDeriv(xx + 822, xx + 785, xx + 826);

  xx[655] = xx[648] + xx[829];

  xx[648] = xx[668] + xx[826];

  xx[668] = xx[671] + xx[827];

  xx[669] = xx[670] + xx[828];

  xx[670] = sqrt(xx[648] * xx[648] + xx[668] * xx[668] + xx[669] * xx[669] + xx

                 [655] * xx[655]);

  if (xx[28] > xx[670])

    xx[670] = xx[28];

  xx[671] = xx[655] / xx[670];

  xx[655] = xx[648] / xx[670];

  xx[648] = xx[21] * xx[671] - xx[25] * xx[655];

  xx[710] = xx[669] / xx[670];

  xx[669] = xx[668] / xx[670];

  xx[668] = xx[21] * xx[710] + xx[25] * xx[669];

  xx[670] = - xx[668];

  xx[712] = xx[25] * xx[710] - xx[21] * xx[669];

  xx[718] = - xx[712];

  xx[719] = xx[21] * xx[655] + xx[25] * xx[671];

  xx[731] = - xx[719];

  xx[822] = xx[648];

  xx[823] = xx[670];

  xx[824] = xx[718];

  xx[825] = xx[731];

  pm_math_quatCompose(xx + 699, xx + 822, xx + 826);

  xx[699] = (xx[712] * xx[648] + xx[719] * xx[668]) * xx[80];

  xx[700] = xx[80] * (xx[712] * xx[719] - xx[648] * xx[668]);

  xx[701] = xx[22] - (xx[668] * xx[668] + xx[712] * xx[712]) * xx[80];

  pm_math_cross3(xx + 699, xx + 267, xx + 830);

  pm_math_quatXform(xx + 826, xx + 830, xx + 699);

  pm_math_quatXform(xx + 822, xx + 126, xx + 826);

  xx[702] = xx[827] * xx[578] - xx[512] * xx[826];

  xx[737] = xx[684] * xx[512] + xx[685] * xx[578];

  xx[745] = xx[80] * xx[578] * xx[702] - (xx[827] - xx[80] * xx[737] * xx[578])

    - xx[685];

  xx[751] = xx[826] + xx[80] * xx[512] * xx[702] + xx[80] * xx[737] * xx[512] -

    xx[684];

  xx[702] = xx[751] * xx[642];

  xx[737] = xx[745] * xx[642];

  xx[788] = xx[751] * xx[536] + xx[745] * xx[594];

  xx[829] = - xx[702];

  xx[830] = xx[737];

  xx[831] = - xx[788];

  pm_math_cross3(xx + 689, xx + 829, xx + 832);

  xx[835] = - (xx[500] + xx[576]);

  xx[836] = xx[605];

  xx[837] = xx[613];

  xx[838] = xx[624];

  pm_math_quatCompose(xx + 835, xx + 822, xx + 839);

  pm_math_quatXform(xx + 839, xx + 280, xx + 689);

  pm_math_quatXform(xx + 822, xx + 167, xx + 829);

  pm_math_quatXform(xx + 835, xx + 829, xx + 843);

  pm_math_quatXform(xx + 839, xx + 297, xx + 829);

  pm_math_quatXform(xx + 822, xx + 176, xx + 846);

  pm_math_quatXform(xx + 835, xx + 846, xx + 822);

  xx[500] = xx[102] * xx[842];

  xx[576] = xx[102] * xx[840] + xx[123] * xx[841];

  xx[846] = - xx[500];

  xx[847] = - (xx[123] * xx[842]);

  xx[848] = xx[576];

  pm_math_cross3(xx + 840, xx + 846, xx + 849);

  xx[846] = xx[670];

  xx[847] = xx[718];

  xx[848] = xx[731];

  xx[605] = xx[117] * xx[719];

  xx[613] = xx[119] * xx[719];

  xx[624] = xx[117] * xx[668] + xx[712] * xx[119];

  xx[852] = xx[605];

  xx[853] = xx[613];

  xx[854] = - xx[624];

  pm_math_cross3(xx + 846, xx + 852, xx + 855);

  xx[846] = xx[80] * (xx[855] + xx[605] * xx[648]) - xx[119];

  xx[847] = xx[117] + (xx[613] * xx[648] + xx[856]) * xx[80];

  xx[848] = (xx[857] - xx[624] * xx[648]) * xx[80];

  pm_math_quatXform(xx + 835, xx + 846, xx + 852);

  xx[605] = xx[17] * xx[2];

  xx[613] = cos(xx[605]);

  xx[624] = xx[613] * xx[647];

  xx[648] = sin(xx[605]);

  xx[605] = xx[675] * xx[648];

  xx[668] = - (xx[721] * xx[613] - xx[648] * xx[722]);

  xx[670] = xx[721] * xx[648] + xx[613] * xx[722];

  xx[712] = xx[675] * xx[613] - xx[648] * xx[647];

  xx[855] = - (xx[624] + xx[605]);

  xx[856] = xx[668];

  xx[857] = xx[670];

  xx[858] = xx[712];

  xx[859] = xx[730];

  xx[860] = xx[733];

  xx[861] = xx[732];

  xx[862] = xx[729];

  pm_math_quatDeriv(xx + 859, xx + 756, xx + 863);

  xx[718] = xx[729] + xx[866];

  xx[719] = xx[730] + xx[863];

  xx[729] = xx[733] + xx[864];

  xx[730] = xx[732] + xx[865];

  xx[731] = sqrt(xx[719] * xx[719] + xx[729] * xx[729] + xx[730] * xx[730] + xx

                 [718] * xx[718]);

  if (xx[28] > xx[731])

    xx[731] = xx[28];

  xx[732] = xx[718] / xx[731];

  xx[718] = xx[719] / xx[731];

  xx[719] = xx[21] * xx[732] - xx[25] * xx[718];

  xx[733] = xx[730] / xx[731];

  xx[730] = xx[729] / xx[731];

  xx[729] = xx[21] * xx[733] + xx[25] * xx[730];

  xx[731] = - xx[729];

  xx[789] = xx[25] * xx[733] - xx[21] * xx[730];

  xx[825] = - xx[789];

  xx[846] = xx[21] * xx[718] + xx[25] * xx[732];

  xx[847] = - xx[846];

  xx[859] = xx[719];

  xx[860] = xx[731];

  xx[861] = xx[825];

  xx[862] = xx[847];

  pm_math_quatCompose(xx + 855, xx + 859, xx + 863);

  xx[855] = (xx[789] * xx[719] + xx[846] * xx[729]) * xx[80];

  xx[856] = xx[80] * (xx[789] * xx[846] - xx[719] * xx[729]);

  xx[857] = xx[22] - (xx[729] * xx[729] + xx[789] * xx[789]) * xx[80];

  pm_math_cross3(xx + 855, xx + 267, xx + 867);

  pm_math_quatXform(xx + 863, xx + 867, xx + 855);

  pm_math_quatXform(xx + 859, xx + 126, xx + 863);

  xx[848] = xx[864] * xx[648] - xx[613] * xx[863];

  xx[858] = xx[746] * xx[613] - xx[747] * xx[648];

  xx[866] = xx[80] * xx[648] * xx[848] - (xx[864] + xx[80] * xx[858] * xx[648])

    - xx[747];

  xx[867] = xx[863] + xx[80] * xx[613] * xx[848] - xx[80] * xx[858] * xx[613] +

    xx[746];

  xx[848] = xx[867] * xx[722];

  xx[858] = xx[866] * xx[722];

  xx[868] = xx[867] * xx[647] + xx[866] * xx[675];

  xx[869] = xx[848];

  xx[870] = - xx[858];

  xx[871] = - xx[868];

  pm_math_cross3(xx + 752, xx + 869, xx + 872);

  xx[875] = - (xx[605] + xx[624]);

  xx[876] = xx[668];

  xx[877] = xx[670];

  xx[878] = xx[712];

  pm_math_quatCompose(xx + 875, xx + 859, xx + 879);

  pm_math_quatXform(xx + 879, xx + 280, xx + 752);

  pm_math_quatXform(xx + 859, xx + 167, xx + 869);

  pm_math_quatXform(xx + 875, xx + 869, xx + 883);

  pm_math_quatXform(xx + 879, xx + 297, xx + 869);

  pm_math_quatXform(xx + 859, xx + 176, xx + 886);

  pm_math_quatXform(xx + 875, xx + 886, xx + 859);

  xx[605] = xx[102] * xx[882];

  xx[624] = xx[102] * xx[880] + xx[123] * xx[881];

  xx[886] = - xx[605];

  xx[887] = - (xx[123] * xx[882]);

  xx[888] = xx[624];

  pm_math_cross3(xx + 880, xx + 886, xx + 889);

  xx[886] = xx[731];

  xx[887] = xx[825];

  xx[888] = xx[847];

  xx[668] = xx[117] * xx[846];

  xx[670] = xx[119] * xx[846];

  xx[712] = xx[117] * xx[729] + xx[789] * xx[119];

  xx[892] = xx[668];

  xx[893] = xx[670];

  xx[894] = - xx[712];

  pm_math_cross3(xx + 886, xx + 892, xx + 895);

  xx[886] = xx[80] * (xx[895] + xx[668] * xx[719]) - xx[119];

  xx[887] = xx[117] + (xx[670] * xx[719] + xx[896]) * xx[80];

  xx[888] = (xx[897] - xx[712] * xx[719]) * xx[80];

  pm_math_quatXform(xx + 875, xx + 886, xx + 892);

  xx[668] = state[51] + xx[771];

  xx[670] = xx[668] * xx[2];

  xx[712] = cos(xx[670]);

  xx[719] = sin(xx[670]);

  xx[670] = xx[712] * xx[174] + xx[719] * xx[110];

  xx[729] = xx[138] * xx[712] - xx[719] * xx[173];

  xx[731] = xx[712] * xx[173] + xx[138] * xx[719];

  xx[138] = xx[712] * xx[110] - xx[719] * xx[174];

  xx[755] = xx[670];

  xx[756] = xx[729];

  xx[757] = xx[731];

  xx[758] = xx[138];

  pm_math_quatCompose(xx + 154, xx + 755, xx + 759);

  pm_math_quatCompose(xx + 150, xx + 759, xx + 763);

  pm_math_quatCompose(xx + 146, xx + 763, xx + 767);

  xx[146] = xx[80] * (xx[764] * xx[766] - xx[763] * xx[765]);

  xx[147] = (xx[763] * xx[764] + xx[765] * xx[766]) * xx[80];

  xx[148] = xx[22] - (xx[764] * xx[764] + xx[765] * xx[765]) * xx[80];

  pm_math_cross3(xx + 146, xx + 84, xx + 763);

  pm_math_quatXform(xx + 767, xx + 763, xx + 146);

  xx[110] = xx[54] * xx[719];

  xx[149] = xx[110] * xx[719];

  xx[173] = xx[738] * xx[719];

  xx[174] = xx[712] * xx[173];

  xx[763] = xx[20] - (xx[80] * (xx[149] - xx[174]) - xx[54]);

  xx[764] = xx[712] * xx[110];

  xx[110] = xx[173] * xx[719];

  xx[173] = (xx[764] + xx[110]) * xx[80] - xx[738];

  xx[765] = xx[763];

  xx[766] = - xx[173];

  xx[767] = xx[791];

  pm_math_quatXform(xx + 215, xx + 765, xx + 768);

  xx[771] = xx[768] - xx[236];

  xx[772] = xx[769] + xx[200];

  xx[768] = xx[770] - xx[233];

  xx[773] = xx[771];

  xx[774] = xx[772];

  xx[775] = xx[768];

  pm_math_quatXform(xx + 154, xx + 773, xx + 776);

  xx[154] = xx[776] + xx[220];

  xx[155] = xx[777] + xx[235];

  xx[156] = xx[778] + xx[238];

  pm_math_quatXform(xx + 150, xx + 154, xx + 773);

  xx[157] = xx[774] + xx[246];

  xx[769] = xx[773] + xx[245];

  xx[770] = xx[157] * xx[35] - xx[769] * xx[32];

  xx[773] = xx[80] * xx[35] * xx[770] - (xx[157] - xx[259]) - xx[135];

  xx[157] = xx[769] + xx[80] * xx[32] * xx[770] + xx[248] - xx[131];

  xx[248] = xx[157] * xx[15];

  xx[259] = xx[773] * xx[15];

  xx[769] = xx[157] * xx[3] - xx[773] * xx[7];

  xx[774] = - xx[248];

  xx[775] = xx[259];

  xx[776] = xx[769];

  pm_math_cross3(xx + 139, xx + 774, xx + 777);

  pm_math_quatCompose(xx + 287, xx + 759, xx + 780);

  xx[139] = xx[4] * xx[762];

  xx[140] = xx[4] * xx[760] + xx[761];

  xx[774] = xx[139];

  xx[775] = xx[762];

  xx[776] = - xx[140];

  pm_math_cross3(xx + 760, xx + 774, xx + 784);

  xx[141] = xx[759] * xx[762];

  xx[774] = xx[22] + (xx[784] - xx[759] * xx[139]) * xx[80];

  xx[775] = xx[80] * (xx[785] - xx[141]) - xx[4];

  xx[776] = xx[80] * (xx[786] + xx[759] * xx[140]);

  pm_math_cross3(xx + 774, xx + 84, xx + 784);

  pm_math_quatXform(xx + 780, xx + 784, xx + 774);

  xx[140] = - (xx[156] * xx[4]);

  xx[784] = xx[140];

  xx[785] = - xx[156];

  xx[786] = xx[155] + xx[154] * xx[4];

  pm_math_quatXform(xx + 150, xx + 784, xx + 886);

  xx[784] = xx[886] + xx[263];

  xx[785] = xx[887] + xx[264];

  xx[786] = xx[888] + xx[265];

  pm_math_quatXform(xx + 283, xx + 784, xx + 263);

  xx[770] = xx[760] - xx[4] * xx[761];

  xx[784] = - xx[762];

  xx[785] = xx[139];

  xx[786] = xx[770];

  pm_math_cross3(xx + 760, xx + 784, xx + 886);

  xx[784] = xx[4] + (xx[141] + xx[886]) * xx[80];

  xx[785] = xx[22] + xx[80] * (xx[887] - xx[4] * xx[141]);

  xx[786] = xx[80] * (xx[888] - xx[759] * xx[770]);

  pm_math_cross3(xx + 784, xx + 84, xx + 886);

  pm_math_quatXform(xx + 780, xx + 886, xx + 784);

  xx[886] = xx[156];

  xx[887] = xx[140];

  xx[888] = xx[155] * xx[4] - xx[154];

  pm_math_quatXform(xx + 150, xx + 886, xx + 139);

  xx[150] = xx[139] + xx[46];

  xx[151] = xx[140] + xx[47];

  xx[152] = xx[141] + xx[48];

  pm_math_quatXform(xx + 283, xx + 150, xx + 46);

  xx[139] = xx[80] * (xx[760] * xx[762] - xx[759] * xx[761]);

  xx[140] = (xx[759] * xx[760] + xx[761] * xx[762]) * xx[80];

  xx[141] = xx[22] - (xx[760] * xx[760] + xx[761] * xx[761]) * xx[80];

  pm_math_cross3(xx + 139, xx + 84, xx + 150);

  pm_math_quatXform(xx + 780, xx + 150, xx + 139);

  xx[150] = xx[154] * xx[70];

  xx[151] = xx[155] * xx[70];

  xx[70] = xx[154] * xx[26] + xx[155] * xx[68];

  xx[759] = xx[150];

  xx[760] = xx[151];

  xx[761] = - xx[70];

  pm_math_cross3(xx + 183, xx + 759, xx + 780);

  xx[183] = xx[80] * (xx[780] + xx[150] * xx[24]) + xx[244] - xx[155] - xx[119];

  xx[184] = xx[154] + xx[80] * (xx[781] + xx[151] * xx[24]) + xx[69] + xx[117];

  xx[185] = (xx[782] - xx[70] * xx[24]) * xx[80] + xx[75];

  pm_math_quatXform(xx + 283, xx + 183, xx + 68);

  pm_math_quatCompose(xx + 320, xx + 755, xx + 150);

  xx[24] = xx[731] * xx[731];

  xx[26] = xx[138] * xx[138];

  xx[75] = xx[731] * xx[729];

  xx[154] = xx[670] * xx[138];

  xx[155] = xx[670] * xx[731];

  xx[156] = xx[138] * xx[729];

  xx[183] = xx[22] - (xx[24] + xx[26]) * xx[80];

  xx[184] = xx[80] * (xx[75] - xx[154]);

  xx[185] = (xx[155] + xx[156]) * xx[80];

  pm_math_cross3(xx + 183, xx + 84, xx + 755);

  pm_math_quatXform(xx + 150, xx + 755, xx + 183);

  xx[244] = xx[772] * xx[44];

  xx[755] = xx[768] * xx[83];

  xx[756] = xx[244] + xx[755];

  xx[757] = xx[772] * xx[42];

  xx[758] = xx[768] * xx[42];

  xx[759] = - xx[756];

  xx[760] = - xx[757];

  xx[761] = - xx[758];

  pm_math_cross3(xx + 333, xx + 759, xx + 780);

  xx[759] = xx[80] * (xx[780] - xx[756] * xx[40]) + xx[336];

  xx[760] = xx[80] * (xx[781] - xx[757] * xx[40]) + xx[278] - xx[768] - xx[74];

  xx[761] = xx[772] + xx[80] * (xx[782] - xx[758] * xx[40]) + xx[279] - xx[73];

  pm_math_quatXform(xx + 287, xx + 759, xx + 756);

  xx[278] = xx[729] * xx[729];

  xx[279] = xx[731] * xx[138];

  xx[138] = xx[670] * xx[729];

  xx[759] = (xx[154] + xx[75]) * xx[80];

  xx[760] = xx[22] - (xx[26] + xx[278]) * xx[80];

  xx[761] = xx[80] * (xx[279] - xx[138]);

  pm_math_cross3(xx + 759, xx + 84, xx + 780);

  pm_math_quatXform(xx + 150, xx + 780, xx + 759);

  xx[26] = xx[771] * xx[44];

  xx[75] = xx[771] * xx[42];

  xx[42] = xx[75] - xx[755];

  xx[154] = xx[768] * xx[44];

  xx[780] = xx[26];

  xx[781] = xx[42];

  xx[782] = xx[154];

  pm_math_cross3(xx + 333, xx + 780, xx + 886);

  xx[780] = xx[768] + (xx[26] * xx[40] + xx[886]) * xx[80] + xx[274] + xx[74];

  xx[781] = (xx[42] * xx[40] + xx[887]) * xx[80] + xx[134];

  xx[782] = (xx[154] * xx[40] + xx[888]) * xx[80] + xx[179] - xx[771] - xx[72];

  pm_math_quatXform(xx + 287, xx + 780, xx + 886);

  xx[780] = xx[80] * (xx[156] - xx[155]);

  xx[781] = (xx[138] + xx[279]) * xx[80];

  xx[782] = xx[22] - (xx[278] + xx[24]) * xx[80];

  pm_math_cross3(xx + 780, xx + 84, xx + 154);

  pm_math_quatXform(xx + 150, xx + 154, xx + 780);

  xx[24] = xx[771] * xx[83];

  xx[26] = xx[772] * xx[83];

  xx[42] = xx[75] - xx[244];

  xx[150] = xx[24];

  xx[151] = xx[26];

  xx[152] = xx[42];

  pm_math_cross3(xx + 333, xx + 150, xx + 153);

  xx[150] = (xx[24] * xx[40] + xx[153]) * xx[80] + xx[133] - xx[772] + xx[73];

  xx[151] = xx[771] + (xx[26] * xx[40] + xx[154]) * xx[80] + xx[64] + xx[72];

  xx[152] = (xx[42] * xx[40] + xx[155]) * xx[80] + xx[82];

  pm_math_quatXform(xx + 287, xx + 150, xx + 153);

  xx[24] = xx[712] * xx[349] + xx[352] * xx[719];

  xx[26] = xx[712] * xx[350] - xx[351] * xx[719];

  xx[40] = xx[712] * xx[351] + xx[350] * xx[719];

  xx[42] = xx[712] * xx[352] - xx[349] * xx[719];

  xx[333] = xx[24];

  xx[334] = xx[26];

  xx[335] = xx[40];

  xx[336] = xx[42];

  xx[44] = xx[57] * xx[719];

  xx[64] = xx[80] * xx[712] * xx[44];

  xx[75] = xx[80] * xx[44] * xx[719] - xx[57];

  xx[150] = xx[74] * xx[64] + xx[55];

  xx[151] = xx[106] + xx[74] * xx[75];

  xx[152] = xx[73] * xx[75] - xx[72] * xx[64];

  pm_math_quatXform(xx + 333, xx + 150, xx + 770);

  xx[150] = - (xx[63] * xx[173]);

  xx[151] = - (xx[63] * xx[763] + xx[30]);

  xx[152] = xx[57] * xx[173];

  pm_math_quatXform(xx + 215, xx + 150, xx + 895);

  xx[150] = xx[895] + xx[136];

  xx[151] = xx[896] + xx[137] - xx[67];

  xx[152] = xx[897] - xx[175];

  pm_math_quatXform(xx + 320, xx + 150, xx + 136);

  xx[150] = xx[26];

  xx[151] = xx[40];

  xx[152] = xx[42];

  xx[44] = xx[72] * xx[42];

  xx[64] = xx[73] * xx[42];

  xx[42] = xx[72] * xx[26] - xx[40] * xx[73];

  xx[215] = - xx[44];

  xx[216] = xx[64];

  xx[217] = xx[42];

  pm_math_cross3(xx + 150, xx + 215, xx + 895);

  xx[26] = xx[738] - xx[80] * (xx[764] + xx[110]);

  xx[40] = xx[54] + (xx[174] - xx[149]) * xx[80];

  xx[75] = xx[352] * xx[40];

  xx[82] = xx[26] * xx[352];

  xx[83] = xx[350] * xx[40] + xx[26] * xx[351];

  xx[149] = xx[75];

  xx[150] = xx[82];

  xx[151] = - xx[83];

  pm_math_cross3(xx + 350, xx + 149, xx + 173);

  xx[898] = xx[0];

  xx[899] = xx[0];

  xx[900] = xx[0];

  xx[901] = xx[0];

  xx[902] = xx[190] + xx[260] + xx[80] * (xx[271] - xx[251] * xx[14]);

  xx[903] = xx[300] + xx[303];

  xx[904] = xx[306] + xx[309];

  xx[905] = xx[316] + xx[294];

  xx[906] = xx[291] + xx[337];

  xx[907] = xx[340] + xx[346];

  xx[908] = xx[343] + xx[329];

  xx[909] = xx[357] + xx[360];

  xx[910] = xx[80] * (xx[369] - xx[31] * xx[103]) + xx[33] + xx[80] * (xx[363] -

    xx[349] * xx[180]) + xx[73];

  xx[911] = xx[0];

  xx[912] = xx[0];

  xx[913] = xx[0];

  xx[914] = xx[0];

  xx[915] = xx[0];

  xx[916] = xx[0];

  xx[917] = xx[0];

  xx[918] = xx[0];

  xx[919] = - (xx[375] + xx[388] + xx[80] * (xx[394] + xx[241] * xx[378]));

  xx[920] = - (xx[275] + xx[406]);

  xx[921] = - (xx[391] + xx[380]);

  xx[922] = - (xx[80] * (xx[423] - xx[416] * xx[187]) + xx[426] - xx[123]);

  xx[923] = xx[0];

  xx[924] = xx[0];

  xx[925] = xx[0];

  xx[926] = xx[0];

  xx[927] = xx[0];

  xx[928] = xx[0];

  xx[929] = xx[0];

  xx[930] = xx[0];

  xx[931] = xx[0];

  xx[932] = xx[0];

  xx[933] = xx[0];

  xx[934] = xx[0];

  xx[935] = xx[191] + xx[258] + (xx[255] * xx[14] + xx[272]) * xx[80];

  xx[936] = xx[301] + xx[304];

  xx[937] = xx[307] + xx[310];

  xx[938] = xx[317] + xx[295];

  xx[939] = xx[292] + xx[338];

  xx[940] = xx[341] + xx[347];

  xx[941] = xx[344] + xx[330];

  xx[942] = xx[358] + xx[361];

  xx[943] = (xx[31] * xx[111] + xx[370]) * xx[80] + xx[99] + (xx[349] * xx[181]

    + xx[364]) * xx[80] + xx[72];

  xx[944] = xx[0];

  xx[945] = xx[0];

  xx[946] = xx[0];

  xx[947] = xx[0];

  xx[948] = xx[0];

  xx[949] = xx[0];

  xx[950] = xx[0];

  xx[951] = xx[0];

  xx[952] = - (xx[376] + xx[389] + (xx[395] - xx[241] * xx[387]) * xx[80]);

  xx[953] = - (xx[276] + xx[407]);

  xx[954] = - (xx[392] + xx[381]);

  xx[955] = - ((xx[424] - xx[123] * xx[416] * xx[419]) * xx[80] + xx[427] + xx

               [102]);

  xx[956] = xx[0];

  xx[957] = xx[0];

  xx[958] = xx[0];

  xx[959] = xx[0];

  xx[960] = xx[0];

  xx[961] = xx[0];

  xx[962] = xx[0];

  xx[963] = xx[0];

  xx[964] = xx[0];

  xx[965] = xx[0];

  xx[966] = xx[0];

  xx[967] = xx[0];

  xx[968] = xx[192] + (xx[14] * xx[261] + xx[273]) * xx[80];

  xx[969] = xx[302] + xx[305];

  xx[970] = xx[308] + xx[311];

  xx[971] = xx[318] + xx[296];

  xx[972] = xx[293] + xx[339];

  xx[973] = xx[342] + xx[348];

  xx[974] = xx[345] + xx[331];

  xx[975] = xx[359] + xx[362];

  xx[976] = (xx[31] * xx[100] + xx[371]) * xx[80] + (xx[349] * xx[182] + xx[365])

    * xx[80];

  xx[977] = xx[0];

  xx[978] = xx[0];

  xx[979] = xx[0];

  xx[980] = xx[0];

  xx[981] = xx[0];

  xx[982] = xx[0];

  xx[983] = xx[0];

  xx[984] = xx[0];

  xx[985] = - (xx[377] + (xx[396] - xx[241] * xx[390]) * xx[80]);

  xx[986] = - (xx[277] + xx[408]);

  xx[987] = - (xx[393] + xx[382]);

  xx[988] = - ((xx[416] * xx[189] + xx[425]) * xx[80] + xx[428]);

  xx[989] = xx[0];

  xx[990] = xx[0];

  xx[991] = xx[0];

  xx[992] = xx[0];

  xx[993] = xx[0];

  xx[994] = xx[0];

  xx[995] = xx[0];

  xx[996] = xx[0];

  xx[997] = xx[0];

  xx[998] = xx[0];

  xx[999] = xx[0];

  xx[1000] = xx[0];

  xx[1001] = xx[420] + xx[450] + xx[80] * (xx[459] - xx[443] * xx[14]);

  xx[1002] = xx[468] + xx[477];

  xx[1003] = xx[474] + xx[453];

  xx[1004] = xx[480] + xx[437];

  xx[1005] = xx[483] + xx[488];

  xx[1006] = xx[493] + xx[503];

  xx[1007] = xx[496] + xx[464];

  xx[1008] = xx[507] + xx[516];

  xx[1009] = xx[0];

  xx[1010] = xx[80] * (xx[519] + xx[433] * xx[199]) + xx[513] - xx[73];

  xx[1011] = xx[0];

  xx[1012] = xx[0];

  xx[1013] = xx[0];

  xx[1014] = - (xx[429] + xx[472] + xx[80] * (xx[537] - xx[432] * xx[315]));

  xx[1015] = - (xx[413] + xx[544]);

  xx[1016] = - (xx[529] + xx[522]);

  xx[1017] = - (xx[80] * (xx[559] - xx[555] * xx[249]) + xx[562] - xx[123]);

  xx[1018] = xx[0];

  xx[1019] = xx[0];

  xx[1020] = xx[0];

  xx[1021] = xx[0];

  xx[1022] = xx[0];

  xx[1023] = xx[0];

  xx[1024] = xx[0];

  xx[1025] = xx[0];

  xx[1026] = xx[0];

  xx[1027] = xx[0];

  xx[1028] = xx[0];

  xx[1029] = xx[0];

  xx[1030] = xx[0];

  xx[1031] = xx[0];

  xx[1032] = xx[0];

  xx[1033] = xx[0];

  xx[1034] = xx[421] + xx[441] + (xx[444] * xx[14] + xx[460]) * xx[80];

  xx[1035] = xx[469] + xx[478];

  xx[1036] = xx[475] + xx[454];

  xx[1037] = xx[481] + xx[438];

  xx[1038] = xx[484] + xx[489];

  xx[1039] = xx[494] + xx[504];

  xx[1040] = xx[497] + xx[465];

  xx[1041] = xx[508] + xx[517];

  xx[1042] = xx[0];

  xx[1043] = (xx[520] - xx[73] * xx[433] * xx[436]) * xx[80] + xx[514] - xx[72];

  xx[1044] = xx[0];

  xx[1045] = xx[0];

  xx[1046] = xx[0];

  xx[1047] = - (xx[430] + xx[486] + (xx[471] * xx[315] + xx[538]) * xx[80]);

  xx[1048] = - (xx[414] + xx[545]);

  xx[1049] = - (xx[530] + xx[523]);

  xx[1050] = - ((xx[560] - xx[123] * xx[555] * xx[558]) * xx[80] + xx[563] + xx

                [102]);

  xx[1051] = xx[0];

  xx[1052] = xx[0];

  xx[1053] = xx[0];

  xx[1054] = xx[0];

  xx[1055] = xx[0];

  xx[1056] = xx[0];

  xx[1057] = xx[0];

  xx[1058] = xx[0];

  xx[1059] = xx[0];

  xx[1060] = xx[0];

  xx[1061] = xx[0];

  xx[1062] = xx[0];

  xx[1063] = xx[0];

  xx[1064] = xx[0];

  xx[1065] = xx[0];

  xx[1066] = xx[0];

  xx[1067] = xx[422] + (xx[14] * xx[452] + xx[461]) * xx[80];

  xx[1068] = xx[470] + xx[479];

  xx[1069] = xx[476] + xx[455];

  xx[1070] = xx[482] + xx[439];

  xx[1071] = xx[485] + xx[490];

  xx[1072] = xx[495] + xx[505];

  xx[1073] = xx[498] + xx[466];

  xx[1074] = xx[509] + xx[518];

  xx[1075] = xx[0];

  xx[1076] = (xx[433] * xx[237] + xx[521]) * xx[80] + xx[515];

  xx[1077] = xx[0];

  xx[1078] = xx[0];

  xx[1079] = xx[0];

  xx[1080] = - (xx[431] + (xx[487] * xx[315] + xx[539]) * xx[80]);

  xx[1081] = - (xx[415] + xx[546]);

  xx[1082] = - (xx[531] + xx[524]);

  xx[1083] = - ((xx[555] * xx[332] + xx[561]) * xx[80] + xx[564]);

  xx[1084] = xx[0];

  xx[1085] = xx[0];

  xx[1086] = xx[0];

  xx[1087] = xx[0];

  xx[1088] = xx[0];

  xx[1089] = xx[0];

  xx[1090] = xx[0];

  xx[1091] = xx[0];

  xx[1092] = xx[0];

  xx[1093] = xx[0];

  xx[1094] = xx[0];

  xx[1095] = xx[0];

  xx[1096] = xx[0];

  xx[1097] = xx[0];

  xx[1098] = xx[0];

  xx[1099] = xx[0];

  xx[1100] = xx[549] + xx[582] + xx[80] * (xx[588] - xx[525] * xx[14]);

  xx[1101] = xx[591] + xx[606];

  xx[1102] = xx[610] + xx[585];

  xx[1103] = xx[598] + xx[573];

  xx[1104] = xx[615] + xx[620];

  xx[1105] = xx[625] + xx[631];

  xx[1106] = xx[628] + xx[602];

  xx[1107] = xx[634] + xx[644];

  xx[1108] = xx[0];

  xx[1109] = xx[0];

  xx[1110] = xx[80] * (xx[649] - xx[569] * xx[367]) + xx[639] + xx[73];

  xx[1111] = xx[0];

  xx[1112] = xx[0];

  xx[1113] = xx[0];

  xx[1114] = xx[0];

  xx[1115] = xx[0];

  xx[1116] = xx[0];

  xx[1117] = xx[0];

  xx[1118] = xx[0];

  xx[1119] = xx[0];

  xx[1120] = xx[0];

  xx[1121] = - (xx[565] + xx[618] + xx[80] * (xx[662] + xx[501] * xx[568]));

  xx[1122] = - (xx[552] + xx[665]);

  xx[1123] = - (xx[659] + xx[652]);

  xx[1124] = - (xx[80] * (xx[686] - xx[692] * xx[373]) + xx[696] - xx[123]);

  xx[1125] = xx[0];

  xx[1126] = xx[0];

  xx[1127] = xx[0];

  xx[1128] = xx[0];

  xx[1129] = xx[0];

  xx[1130] = xx[0];

  xx[1131] = xx[0];

  xx[1132] = xx[0];

  xx[1133] = xx[550] + xx[510] + (xx[577] * xx[14] + xx[589]) * xx[80];

  xx[1134] = xx[592] + xx[607];

  xx[1135] = xx[611] + xx[586];

  xx[1136] = xx[599] + xx[574];

  xx[1137] = xx[616] + xx[621];

  xx[1138] = xx[626] + xx[632];

  xx[1139] = xx[629] + xx[603];

  xx[1140] = xx[635] + xx[645];

  xx[1141] = xx[0];

  xx[1142] = xx[0];

  xx[1143] = (xx[73] * xx[569] * xx[572] + xx[650]) * xx[80] + xx[640] + xx[72];

  xx[1144] = xx[0];

  xx[1145] = xx[0];

  xx[1146] = xx[0];

  xx[1147] = xx[0];

  xx[1148] = xx[0];

  xx[1149] = xx[0];

  xx[1150] = xx[0];

  xx[1151] = xx[0];

  xx[1152] = xx[0];

  xx[1153] = xx[0];

  xx[1154] = - (xx[566] + xx[619] + (xx[663] - xx[501] * xx[614]) * xx[80]);

  xx[1155] = - (xx[553] + xx[666]);

  xx[1156] = - (xx[660] + xx[653]);

  xx[1157] = - ((xx[687] - xx[123] * xx[692] * xx[695]) * xx[80] + xx[697] + xx

                [102]);

  xx[1158] = xx[0];

  xx[1159] = xx[0];

  xx[1160] = xx[0];

  xx[1161] = xx[0];

  xx[1162] = xx[0];

  xx[1163] = xx[0];

  xx[1164] = xx[0];

  xx[1165] = xx[0];

  xx[1166] = xx[551] + (xx[583] * xx[14] + xx[590]) * xx[80];

  xx[1167] = xx[593] + xx[608];

  xx[1168] = xx[612] + xx[587];

  xx[1169] = xx[600] + xx[575];

  xx[1170] = xx[617] + xx[622];

  xx[1171] = xx[627] + xx[633];

  xx[1172] = xx[630] + xx[604];

  xx[1173] = xx[636] + xx[646];

  xx[1174] = xx[0];

  xx[1175] = xx[0];

  xx[1176] = (xx[569] * xx[372] + xx[651]) * xx[80] + xx[641];

  xx[1177] = xx[0];

  xx[1178] = xx[0];

  xx[1179] = xx[0];

  xx[1180] = xx[0];

  xx[1181] = xx[0];

  xx[1182] = xx[0];

  xx[1183] = xx[0];

  xx[1184] = xx[0];

  xx[1185] = xx[0];

  xx[1186] = xx[0];

  xx[1187] = - (xx[567] + (xx[501] * xx[623] + xx[664]) * xx[80]);

  xx[1188] = - (xx[554] + xx[667]);

  xx[1189] = - (xx[661] + xx[654]);

  xx[1190] = - ((xx[692] * xx[412] + xx[688]) * xx[80] + xx[698]);

  xx[1191] = xx[0];

  xx[1192] = xx[0];

  xx[1193] = xx[0];

  xx[1194] = xx[0];

  xx[1195] = xx[0];

  xx[1196] = xx[0];

  xx[1197] = xx[0];

  xx[1198] = xx[0];

  xx[1199] = xx[681] + xx[716] + xx[80] * (xx[726] - xx[674] * xx[14]);

  xx[1200] = xx[742] + xx[748];

  xx[1201] = xx[739] + xx[792];

  xx[1202] = xx[723] + xx[707];

  xx[1203] = xx[795] + xx[801];

  xx[1204] = xx[798] + xx[807];

  xx[1205] = xx[804] + xx[734];

  xx[1206] = xx[810] + xx[816];

  xx[1207] = xx[0];

  xx[1208] = xx[0];

  xx[1209] = xx[0];

  xx[1210] = xx[80] * (xx[819] - xx[703] * xx[467]) + xx[813] + xx[73];

  xx[1211] = xx[0];

  xx[1212] = xx[0];

  xx[1213] = xx[0];

  xx[1214] = xx[0];

  xx[1215] = xx[0];

  xx[1216] = xx[0];

  xx[1217] = xx[0];

  xx[1218] = xx[0];

  xx[1219] = xx[0];

  xx[1220] = xx[0];

  xx[1221] = xx[0];

  xx[1222] = xx[0];

  xx[1223] = xx[0];

  xx[1224] = - (xx[699] + xx[745] + xx[80] * (xx[832] - xx[638] * xx[702]));

  xx[1225] = - (xx[689] + xx[843]);

  xx[1226] = - (xx[829] + xx[822]);

  xx[1227] = - (xx[80] * (xx[849] - xx[839] * xx[500]) + xx[852] - xx[123]);

  xx[1228] = xx[0];

  xx[1229] = xx[0];

  xx[1230] = xx[0];

  xx[1231] = xx[0];

  xx[1232] = xx[682] + xx[673] + (xx[711] * xx[14] + xx[727]) * xx[80];

  xx[1233] = xx[743] + xx[749];

  xx[1234] = xx[740] + xx[793];

  xx[1235] = xx[724] + xx[708];

  xx[1236] = xx[796] + xx[802];

  xx[1237] = xx[799] + xx[808];

  xx[1238] = xx[805] + xx[735];

  xx[1239] = xx[811] + xx[817];

  xx[1240] = xx[0];

  xx[1241] = xx[0];

  xx[1242] = xx[0];

  xx[1243] = (xx[73] * xx[703] * xx[706] + xx[820]) * xx[80] + xx[814] + xx[72];

  xx[1244] = xx[0];

  xx[1245] = xx[0];

  xx[1246] = xx[0];

  xx[1247] = xx[0];

  xx[1248] = xx[0];

  xx[1249] = xx[0];

  xx[1250] = xx[0];

  xx[1251] = xx[0];

  xx[1252] = xx[0];

  xx[1253] = xx[0];

  xx[1254] = xx[0];

  xx[1255] = xx[0];

  xx[1256] = xx[0];

  xx[1257] = - (xx[700] + xx[751] + (xx[638] * xx[737] + xx[833]) * xx[80]);

  xx[1258] = - (xx[690] + xx[844]);

  xx[1259] = - (xx[830] + xx[823]);

  xx[1260] = - ((xx[850] - xx[123] * xx[839] * xx[842]) * xx[80] + xx[853] + xx

                [102]);

  xx[1261] = xx[0];

  xx[1262] = xx[0];

  xx[1263] = xx[0];

  xx[1264] = xx[0];

  xx[1265] = xx[683] + (xx[717] * xx[14] + xx[728]) * xx[80];

  xx[1266] = xx[744] + xx[750];

  xx[1267] = xx[741] + xx[794];

  xx[1268] = xx[725] + xx[709];

  xx[1269] = xx[797] + xx[803];

  xx[1270] = xx[800] + xx[809];

  xx[1271] = xx[806] + xx[736];

  xx[1272] = xx[812] + xx[818];

  xx[1273] = xx[0];

  xx[1274] = xx[0];

  xx[1275] = xx[0];

  xx[1276] = (xx[703] * xx[499] + xx[821]) * xx[80] + xx[815];

  xx[1277] = xx[0];

  xx[1278] = xx[0];

  xx[1279] = xx[0];

  xx[1280] = xx[0];

  xx[1281] = xx[0];

  xx[1282] = xx[0];

  xx[1283] = xx[0];

  xx[1284] = xx[0];

  xx[1285] = xx[0];

  xx[1286] = xx[0];

  xx[1287] = xx[0];

  xx[1288] = xx[0];

  xx[1289] = xx[0];

  xx[1290] = - (xx[701] + (xx[834] - xx[638] * xx[788]) * xx[80]);

  xx[1291] = - (xx[691] + xx[845]);

  xx[1292] = - (xx[831] + xx[824]);

  xx[1293] = - ((xx[839] * xx[576] + xx[851]) * xx[80] + xx[854]);

  xx[1294] = - (xx[855] + xx[866] + xx[80] * (xx[872] + xx[721] * xx[848]));

  xx[1295] = - (xx[752] + xx[883]);

  xx[1296] = - (xx[869] + xx[859]);

  xx[1297] = - (xx[80] * (xx[889] - xx[879] * xx[605]) + xx[892] - xx[123]);

  xx[1298] = xx[146] + xx[773] + xx[80] * (xx[777] - xx[248] * xx[14]);

  xx[1299] = xx[774] + xx[263];

  xx[1300] = xx[784] + xx[46];

  xx[1301] = xx[139] + xx[68];

  xx[1302] = xx[183] + xx[756];

  xx[1303] = xx[759] + xx[886];

  xx[1304] = xx[780] + xx[153];

  xx[1305] = xx[770] + xx[136];

  xx[1306] = xx[0];

  xx[1307] = xx[0];

  xx[1308] = xx[0];

  xx[1309] = xx[0];

  xx[1310] = xx[80] * (xx[895] - xx[24] * xx[44]) + xx[26] + xx[80] * (xx[173] +

    xx[349] * xx[75]) + xx[73];

  xx[1311] = xx[0];

  xx[1312] = xx[0];

  xx[1313] = xx[0];

  xx[1314] = xx[0];

  xx[1315] = xx[0];

  xx[1316] = xx[0];

  xx[1317] = xx[0];

  xx[1318] = xx[0];

  xx[1319] = xx[0];

  xx[1320] = xx[0];

  xx[1321] = xx[0];

  xx[1322] = xx[0];

  xx[1323] = xx[0];

  xx[1324] = xx[0];

  xx[1325] = xx[0];

  xx[1326] = xx[0];

  xx[1327] = - (xx[856] + xx[867] + (xx[873] - xx[721] * xx[858]) * xx[80]);

  xx[1328] = - (xx[753] + xx[884]);

  xx[1329] = - (xx[870] + xx[860]);

  xx[1330] = - ((xx[890] - xx[123] * xx[879] * xx[882]) * xx[80] + xx[893] + xx

                [102]);

  xx[1331] = xx[147] + xx[157] + (xx[259] * xx[14] + xx[778]) * xx[80];

  xx[1332] = xx[775] + xx[264];

  xx[1333] = xx[785] + xx[47];

  xx[1334] = xx[140] + xx[69];

  xx[1335] = xx[184] + xx[757];

  xx[1336] = xx[760] + xx[887];

  xx[1337] = xx[781] + xx[154];

  xx[1338] = xx[771] + xx[137];

  xx[1339] = xx[0];

  xx[1340] = xx[0];

  xx[1341] = xx[0];

  xx[1342] = xx[0];

  xx[1343] = (xx[24] * xx[64] + xx[896]) * xx[80] - xx[40] + (xx[349] * xx[82] +

    xx[174]) * xx[80] + xx[72];

  xx[1344] = xx[0];

  xx[1345] = xx[0];

  xx[1346] = xx[0];

  xx[1347] = xx[0];

  xx[1348] = xx[0];

  xx[1349] = xx[0];

  xx[1350] = xx[0];

  xx[1351] = xx[0];

  xx[1352] = xx[0];

  xx[1353] = xx[0];

  xx[1354] = xx[0];

  xx[1355] = xx[0];

  xx[1356] = xx[0];

  xx[1357] = xx[0];

  xx[1358] = xx[0];

  xx[1359] = xx[0];

  xx[1360] = - (xx[857] + (xx[874] - xx[721] * xx[868]) * xx[80]);

  xx[1361] = - (xx[754] + xx[885]);

  xx[1362] = - (xx[871] + xx[861]);

  xx[1363] = - ((xx[879] * xx[624] + xx[891]) * xx[80] + xx[894]);

  xx[1364] = xx[148] + (xx[769] * xx[14] + xx[779]) * xx[80];

  xx[1365] = xx[776] + xx[265];

  xx[1366] = xx[786] + xx[48];

  xx[1367] = xx[141] + xx[70];

  xx[1368] = xx[185] + xx[758];

  xx[1369] = xx[761] + xx[888];

  xx[1370] = xx[782] + xx[155];

  xx[1371] = xx[772] + xx[138];

  xx[1372] = xx[0];

  xx[1373] = xx[0];

  xx[1374] = xx[0];

  xx[1375] = xx[0];

  xx[1376] = (xx[24] * xx[42] + xx[897]) * xx[80] + (xx[175] - xx[349] * xx[83])

    * xx[80];

  xx[1377] = xx[0];

  xx[1378] = xx[0];

  xx[1379] = xx[0];

  xx[1380] = xx[0];

  xx[1381] = xx[0];

  xx[1382] = xx[0];

  xx[1383] = xx[0];

  xx[1384] = xx[0];

  xx[1385] = xx[0];

  xx[1386] = xx[0];

  xx[1387] = xx[0];

  xx[1388] = xx[0];

  xx[1389] = xx[0];

  xx[1390] = xx[0];

  xx[1391] = xx[0];

  xx[1392] = xx[0];

  pm_math_quatXform(xx + 353, xx + 84, xx + 46);

  pm_math_quatXform(xx + 349, xx + 210, xx + 68);

  xx[136] = - xx[236];

  xx[137] = xx[200];

  xx[138] = - xx[233];

  pm_math_quatXform(xx + 320, xx + 136, xx + 139);

  xx[136] = xx[220];

  xx[137] = xx[235];

  xx[138] = xx[238];

  pm_math_quatXform(xx + 287, xx + 136, xx + 146);

  pm_math_quatXform(xx + 283, xx + 245, xx + 136);

  xx[24] = xx[131] * xx[35] - xx[135] * xx[32];

  xx[149] = xx[80] * xx[24] * xx[35] + xx[9];

  xx[150] = xx[80] * xx[24] * xx[32] + xx[135];

  xx[151] = xx[11] - (xx[32] * xx[19] * xx[32] + xx[19] * xx[35] * xx[35]) * xx

    [80];

  pm_math_quatXform(xx + 49, xx + 149, xx + 31);

  xx[24] = xx[139] + xx[146] + xx[136] + xx[31] - xx[43] - xx[8];

  pm_math_quatXform(xx + 416, xx + 267, xx + 149);

  pm_math_quatXform(xx + 402, xx + 384, xx + 152);

  xx[26] = xx[266] * xx[188] + xx[270] * xx[193];

  xx[155] = xx[80] * xx[26] * xx[193] + xx[59];

  xx[156] = xx[80] * xx[26] * xx[188] - xx[266];

  xx[157] = (xx[188] * xx[61] * xx[188] + xx[61] * xx[193] * xx[193]) * xx[80] -

    xx[71];

  pm_math_quatXform(xx + 91, xx + 155, xx + 173);

  xx[26] = xx[140] + xx[147] + xx[137] + xx[32] - xx[98] + xx[23];

  xx[31] = xx[141] + xx[148] + xx[138] + xx[33] - xx[34] + xx[27];

  pm_math_quatXform(xx + 433, xx + 84, xx + 136);

  pm_math_quatXform(xx + 349, xx + 447, xx + 139);

  pm_math_quatXform(xx + 555, xx + 267, xx + 146);

  pm_math_quatXform(xx + 540, xx + 526, xx + 155);

  xx[32] = xx[410] * xx[252] - xx[409] * xx[366];

  xx[179] = xx[80] * xx[32] * xx[366] + xx[39];

  xx[180] = xx[80] * xx[32] * xx[252] - xx[410];

  xx[181] = xx[89] - (xx[252] * xx[107] * xx[252] + xx[107] * xx[366] * xx[366])

    * xx[80];

  pm_math_quatXform(xx + 142, xx + 179, xx + 182);

  pm_math_quatXform(xx + 569, xx + 84, xx + 179);

  pm_math_quatXform(xx + 349, xx + 579, xx + 187);

  pm_math_quatXform(xx + 692, xx + 267, xx + 190);

  pm_math_quatXform(xx + 676, xx + 656, xx + 210);

  xx[32] = xx[547] * xx[440] - xx[548] * xx[383];

  xx[215] = xx[80] * xx[32] * xx[440] + xx[130];

  xx[216] = xx[80] * xx[32] * xx[383] + xx[548];

  xx[217] = (xx[383] * xx[162] * xx[383] + xx[162] * xx[440] * xx[440]) * xx[80]

    - xx[163];

  pm_math_quatXform(xx + 158, xx + 215, xx + 235);

  pm_math_quatXform(xx + 703, xx + 84, xx + 215);

  pm_math_quatXform(xx + 349, xx + 713, xx + 244);

  pm_math_quatXform(xx + 839, xx + 267, xx + 247);

  pm_math_quatXform(xx + 835, xx + 826, xx + 258);

  xx[32] = xx[684] * xx[578] - xx[685] * xx[512];

  xx[263] = xx[80] * xx[32] * xx[578] + xx[196];

  xx[264] = xx[80] * xx[32] * xx[512] + xx[685];

  xx[265] = (xx[512] * xx[197] * xx[512] + xx[197] * xx[578] * xx[578]) * xx[80]

    - xx[206];

  pm_math_quatXform(xx + 202, xx + 263, xx + 271);

  pm_math_quatXform(xx + 333, xx + 84, xx + 263);

  pm_math_quatXform(xx + 349, xx + 765, xx + 274);

  pm_math_quatXform(xx + 879, xx + 267, xx + 277);

  pm_math_quatXform(xx + 875, xx + 863, xx + 283);

  xx[32] = xx[747] * xx[613] + xx[746] * xx[648];

  xx[286] = xx[194] - xx[80] * xx[32] * xx[648];

  xx[287] = xx[747] - xx[80] * xx[32] * xx[613];

  xx[288] = (xx[613] * xx[221] * xx[613] + xx[221] * xx[648] * xx[648]) * xx[80]

    - xx[222];

  pm_math_quatXform(xx + 226, xx + 286, xx + 289);

  xx[329] = - (xx[46] + xx[68] + xx[24] - (xx[149] + xx[152] + xx[173] - xx[97])

               - xx[78]);

  xx[330] = - (xx[47] + xx[69] + xx[26] - (xx[150] + xx[153] + xx[174] - xx[101])

               - xx[88]);

  xx[331] = - (xx[48] + xx[70] + xx[31] - (xx[151] + xx[154] + xx[175] - xx[36])

               + xx[37]);

  xx[332] = - (xx[136] + xx[139] + xx[24] - (xx[146] + xx[155] + xx[182] - xx

    [120]) - xx[38]);

  xx[333] = - (xx[137] + xx[140] + xx[26] - (xx[147] + xx[156] + xx[183] - xx

    [121]) - xx[118]);

  xx[334] = - (xx[138] + xx[141] + xx[31] - (xx[148] + xx[157] + xx[184] - xx

    [124]) - xx[6]);

  xx[335] = - (xx[179] + xx[187] + xx[24] - (xx[190] + xx[210] + xx[235] - xx

    [170]) + xx[129]);

  xx[336] = - (xx[180] + xx[188] + xx[26] - (xx[191] + xx[211] + xx[236] - xx

    [171]) - xx[164]);

  xx[337] = - (xx[181] + xx[189] + xx[31] - (xx[192] + xx[212] + xx[237] - xx

    [172]) + xx[166]);

  xx[338] = - (xx[215] + xx[244] + xx[24] - (xx[247] + xx[258] + xx[271] - xx

    [209]) + xx[207]);

  xx[339] = - (xx[216] + xx[245] + xx[26] - (xx[248] + xx[259] + xx[272] - xx

    [213]) - xx[208]);

  xx[340] = - (xx[217] + xx[246] + xx[31] - (xx[249] + xx[260] + xx[273] - xx

    [214]) + xx[195]);

  xx[341] = - (xx[263] + xx[274] + xx[24] - (xx[277] + xx[283] + xx[289] - xx

    [230]) - xx[201]);

  xx[342] = - (xx[264] + xx[275] + xx[26] - (xx[278] + xx[284] + xx[290] - xx

    [231]) - xx[223]);

  xx[343] = - (xx[265] + xx[276] + xx[31] - (xx[279] + xx[285] + xx[291] - xx

    [232]) + xx[58]);

  memcpy(xx + 1393, xx + 898, 495 * sizeof(double));

  factorAndSolveWide(15, 33, xx + 1393, xx + 344, xx + 380, ii + 0, xx + 329,

                     xx[16], xx + 549);

  xx[24] = xx[17] + xx[549];

  xx[136] = xx[718];

  xx[137] = xx[730];

  xx[138] = xx[733];

  xx[139] = xx[732];

  pm_math_quatDeriv(xx + 136, xx + 550, xx + 146);

  xx[17] = xx[718] + xx[146];

  xx[26] = xx[730] + xx[147];

  xx[31] = xx[733] + xx[148];

  xx[32] = xx[732] + xx[149];

  xx[33] = sqrt(xx[17] * xx[17] + xx[26] * xx[26] + xx[31] * xx[31] + xx[32] *

                xx[32]);

  if (xx[28] > xx[33])

    xx[33] = xx[28];

  xx[35] = xx[17] / xx[33];

  xx[17] = xx[26] / xx[33];

  xx[26] = xx[31] / xx[33];

  xx[31] = xx[32] / xx[33];

  xx[32] = xx[18] + xx[553];

  xx[136] = xx[53];

  xx[137] = xx[29];

  xx[138] = xx[66];

  xx[139] = xx[65];

  pm_math_quatDeriv(xx + 136, xx + 554, xx + 146);

  xx[18] = xx[53] + xx[146];

  xx[33] = xx[29] + xx[147];

  xx[29] = xx[66] + xx[148];

  xx[40] = xx[65] + xx[149];

  xx[42] = sqrt(xx[18] * xx[18] + xx[33] * xx[33] + xx[29] * xx[29] + xx[40] *

                xx[40]);

  if (xx[28] > xx[42])

    xx[42] = xx[28];

  xx[44] = xx[18] / xx[42];

  xx[18] = xx[33] / xx[42];

  xx[33] = xx[29] / xx[42];

  xx[29] = xx[40] / xx[42];

  xx[136] = xx[76];

  xx[137] = xx[45];

  xx[138] = xx[81];

  xx[139] = xx[77];

  pm_math_quatDeriv(xx + 136, xx + 557, xx + 146);

  xx[40] = xx[76] + xx[146];

  xx[42] = xx[45] + xx[147];

  xx[45] = xx[81] + xx[148];

  xx[46] = xx[77] + xx[149];

  xx[47] = sqrt(xx[40] * xx[40] + xx[42] * xx[42] + xx[45] * xx[45] + xx[46] *

                xx[46]);

  if (xx[28] > xx[47])

    xx[47] = xx[28];

  xx[48] = xx[40] / xx[47];

  xx[40] = xx[42] / xx[47];

  xx[42] = xx[45] / xx[47];

  xx[45] = xx[46] / xx[47];

  xx[46] = xx[132] + xx[560];

  xx[47] = xx[109] + xx[561];

  xx[53] = xx[198] + xx[562];

  xx[64] = xx[328] + xx[563];

  xx[65] = xx[442] + xx[564];

  xx[66] = xx[668] + xx[565];

  xx[68] = xx[219] + xx[566];

  xx[136] = xx[397];

  xx[137] = xx[374];

  xx[138] = xx[411];

  xx[139] = xx[398];

  pm_math_quatDeriv(xx + 136, xx + 567, xx + 146);

  xx[69] = xx[397] + xx[146];

  xx[70] = xx[374] + xx[147];

  xx[75] = xx[411] + xx[148];

  xx[76] = xx[398] + xx[149];

  xx[77] = sqrt(xx[69] * xx[69] + xx[70] * xx[70] + xx[75] * xx[75] + xx[76] *

                xx[76]);

  if (xx[28] > xx[77])

    xx[77] = xx[28];

  xx[81] = xx[69] / xx[77];

  xx[69] = xx[70] / xx[77];

  xx[70] = xx[75] / xx[77];

  xx[75] = xx[76] / xx[77];

  xx[76] = xx[186] + xx[570];

  xx[136] = xx[234];

  xx[137] = xx[250];

  xx[138] = xx[313];

  xx[139] = xx[253];

  pm_math_quatDeriv(xx + 136, xx + 571, xx + 146);

  xx[77] = xx[234] + xx[146];

  xx[82] = xx[250] + xx[147];

  xx[83] = xx[313] + xx[148];

  xx[99] = xx[253] + xx[149];

  xx[100] = sqrt(xx[77] * xx[77] + xx[82] * xx[82] + xx[83] * xx[83] + xx[99] *

                 xx[99]);

  if (xx[28] > xx[100])

    xx[100] = xx[28];

  xx[103] = xx[77] / xx[100];

  xx[77] = xx[82] / xx[100];

  xx[82] = xx[83] / xx[100];

  xx[83] = xx[99] / xx[100];

  xx[99] = xx[368] + xx[574];

  xx[136] = xx[492];

  xx[137] = xx[511];

  xx[138] = xx[534];

  xx[139] = xx[533];

  pm_math_quatDeriv(xx + 136, xx + 575, xx + 146);

  xx[100] = xx[492] + xx[146];

  xx[109] = xx[511] + xx[147];

  xx[110] = xx[534] + xx[148];

  xx[111] = xx[533] + xx[149];

  xx[132] = sqrt(xx[100] * xx[100] + xx[109] * xx[109] + xx[110] * xx[110] + xx

                 [111] * xx[111]);

  if (xx[28] > xx[132])

    xx[132] = xx[28];

  xx[133] = xx[100] / xx[132];

  xx[100] = xx[109] / xx[132];

  xx[109] = xx[110] / xx[132];

  xx[110] = xx[111] / xx[132];

  xx[111] = xx[491] + xx[578];

  xx[136] = xx[655];

  xx[137] = xx[669];

  xx[138] = xx[710];

  xx[139] = xx[671];

  pm_math_quatDeriv(xx + 136, xx + 579, xx + 146);

  xx[132] = xx[655] + xx[146];

  xx[134] = xx[669] + xx[147];

  xx[136] = xx[710] + xx[148];

  xx[137] = xx[671] + xx[149];

  xx[138] = sqrt(xx[132] * xx[132] + xx[134] * xx[134] + xx[136] * xx[136] + xx

                 [137] * xx[137]);

  if (xx[28] > xx[138])

    xx[138] = xx[28];

  xx[28] = xx[132] / xx[138];

  xx[132] = xx[134] / xx[138];

  xx[134] = xx[136] / xx[138];

  xx[136] = xx[137] / xx[138];

  xx[792] = state[0];

  xx[793] = state[1];

  xx[794] = state[2];

  xx[795] = state[3];

  xx[796] = state[4];

  xx[797] = state[5];

  xx[798] = state[6];

  xx[799] = state[7];

  xx[800] = state[8];

  xx[801] = state[9];

  xx[802] = state[10];

  xx[803] = state[11];

  xx[804] = state[12];

  xx[805] = state[13];

  xx[806] = xx[24];

  xx[807] = state[15];

  xx[808] = xx[35];

  xx[809] = xx[17];

  xx[810] = xx[26];

  xx[811] = xx[31];

  xx[812] = state[20];

  xx[813] = state[21];

  xx[814] = state[22];

  xx[815] = state[23];

  xx[816] = state[24];

  xx[817] = xx[32];

  xx[818] = state[26];

  xx[819] = xx[44];

  xx[820] = xx[18];

  xx[821] = xx[33];

  xx[822] = xx[29];

  xx[823] = state[31];

  xx[824] = state[32];

  xx[825] = state[33];

  xx[826] = xx[48];

  xx[827] = xx[40];

  xx[828] = xx[42];

  xx[829] = xx[45];

  xx[830] = state[38];

  xx[831] = state[39];

  xx[832] = state[40];

  xx[833] = xx[46];

  xx[834] = state[42];

  xx[835] = xx[47];

  xx[836] = state[44];

  xx[837] = xx[53];

  xx[838] = state[46];

  xx[839] = xx[64];

  xx[840] = state[48];

  xx[841] = xx[65];

  xx[842] = state[50];

  xx[843] = xx[66];

  xx[844] = state[52];

  xx[845] = state[53];

  xx[846] = state[54];

  xx[847] = xx[68];

  xx[848] = state[56];

  xx[849] = xx[81];

  xx[850] = xx[69];

  xx[851] = xx[70];

  xx[852] = xx[75];

  xx[853] = state[61];

  xx[854] = state[62];

  xx[855] = state[63];

  xx[856] = state[64];

  xx[857] = state[65];

  xx[858] = xx[76];

  xx[859] = state[67];

  xx[860] = xx[103];

  xx[861] = xx[77];

  xx[862] = xx[82];

  xx[863] = xx[83];

  xx[864] = state[72];

  xx[865] = state[73];

  xx[866] = state[74];

  xx[867] = state[75];

  xx[868] = state[76];

  xx[869] = xx[99];

  xx[870] = state[78];

  xx[871] = xx[133];

  xx[872] = xx[100];

  xx[873] = xx[109];

  xx[874] = xx[110];

  xx[875] = state[83];

  xx[876] = state[84];

  xx[877] = state[85];

  xx[878] = state[86];

  xx[879] = state[87];

  xx[880] = xx[111];

  xx[881] = state[89];

  xx[882] = xx[28];

  xx[883] = xx[132];

  xx[884] = xx[134];

  xx[885] = xx[136];

  xx[886] = state[94];

  xx[887] = state[95];

  xx[888] = state[96];

  xx[137] = xx[47] * xx[2];

  xx[47] = cos(xx[137]);

  xx[138] = xx[32] * xx[2];

  xx[32] = sin(xx[138]);

  xx[139] = cos(xx[138]);

  xx[146] = - (xx[32] * xx[7] - xx[3] * xx[139]);

  xx[147] = - (xx[139] * xx[14] + xx[15] * xx[32]);

  xx[148] = xx[32] * xx[14] - xx[15] * xx[139];

  xx[149] = xx[3] * xx[32] + xx[139] * xx[7];

  xx[150] = xx[21] * xx[29] - xx[25] * xx[44];

  xx[151] = - (xx[21] * xx[33] + xx[25] * xx[18]);

  xx[152] = - (xx[25] * xx[33] - xx[21] * xx[18]);

  xx[153] = - (xx[21] * xx[44] + xx[25] * xx[29]);

  pm_math_quatCompose(xx + 146, xx + 150, xx + 154);

  xx[179] = xx[25] * xx[45] - xx[41] * xx[48];

  xx[180] = xx[25] * xx[42] - xx[41] * xx[40];

  xx[181] = - (xx[41] * xx[42] + xx[25] * xx[40]);

  xx[182] = - (xx[41] * xx[45] + xx[25] * xx[48]);

  pm_math_quatCompose(xx + 154, xx + 179, xx + 183);

  xx[3] = xx[46] * xx[2];

  xx[7] = sin(xx[3]);

  xx[14] = xx[57] * xx[7];

  xx[15] = xx[56] * xx[14];

  xx[18] = xx[63] * xx[7];

  xx[7] = xx[62] * xx[18];

  xx[29] = cos(xx[3]);

  xx[3] = xx[62] * xx[29];

  xx[33] = xx[15] + xx[7] - xx[3];

  xx[40] = xx[62] * xx[14];

  xx[14] = xx[56] * xx[29];

  xx[29] = xx[56] * xx[18];

  xx[18] = xx[40] + xx[14] - xx[29];

  xx[42] = xx[14] - xx[40] + xx[29];

  xx[14] = xx[7] + xx[3] + xx[15];

  xx[187] = xx[33];

  xx[188] = xx[18];

  xx[189] = xx[42];

  xx[190] = xx[14];

  pm_math_quatCompose(xx + 183, xx + 187, xx + 215);

  xx[3] = sin(xx[137]);

  xx[187] = xx[47] * xx[215] + xx[218] * xx[3];

  xx[188] = xx[47] * xx[216] - xx[217] * xx[3];

  xx[189] = xx[47] * xx[217] + xx[216] * xx[3];

  xx[190] = xx[47] * xx[218] - xx[215] * xx[3];

  pm_math_quatXform(xx + 187, xx + 84, xx + 44);

  xx[7] = xx[87] * xx[3];

  xx[15] = xx[90] * xx[3];

  xx[173] = - (0.02539999999966131 + xx[80] * (xx[47] * xx[7] + xx[15] * xx[3]));

  xx[174] = (xx[7] * xx[3] - xx[47] * xx[15]) * xx[80] - xx[87];

  xx[175] = xx[96];

  pm_math_quatXform(xx + 215, xx + 173, xx + 187);

  xx[3] = 0.1158410329997535;

  xx[7] = xx[105] * xx[42];

  xx[173] = xx[18];

  xx[174] = xx[42];

  xx[175] = xx[14];

  xx[15] = xx[104] * xx[14] - xx[18] * xx[105];

  xx[14] = xx[104] * xx[42];

  xx[190] = xx[7];

  xx[191] = xx[15];

  xx[192] = - xx[14];

  pm_math_cross3(xx + 173, xx + 190, xx + 198);

  xx[18] = 0.1002102452613437;

  xx[173] = - (xx[3] + (xx[7] * xx[33] + xx[198]) * xx[80]);

  xx[174] = xx[108] - (xx[33] * xx[15] + xx[199]) * xx[80];

  xx[175] = - (xx[18] + xx[80] * (xx[200] - xx[14] * xx[33]));

  pm_math_quatXform(xx + 183, xx + 173, xx + 190);

  pm_math_quatXform(xx + 179, xx + 112, xx + 173);

  xx[179] = xx[102] + xx[173];

  xx[180] = xx[123] + xx[174];

  xx[181] = xx[115] + xx[175];

  pm_math_quatXform(xx + 154, xx + 179, xx + 173);

  pm_math_quatXform(xx + 150, xx + 126, xx + 154);

  pm_math_quatXform(xx + 146, xx + 154, xx + 150);

  xx[7] = xx[131] * xx[32] - xx[135] * xx[139];

  xx[146] = xx[80] * xx[7] * xx[32] + xx[9];

  xx[147] = xx[80] * xx[7] * xx[139] + xx[135];

  xx[148] = xx[11] - (xx[139] * xx[19] * xx[139] + xx[19] * xx[32] * xx[32]) *

    xx[80];

  pm_math_quatXform(xx + 49, xx + 146, xx + 137);

  xx[7] = xx[190] + xx[173] + xx[150] + xx[137] - xx[43] - xx[8];

  xx[8] = xx[76] * xx[2];

  xx[11] = sin(xx[8]);

  xx[14] = cos(xx[8]);

  xx[47] = - (xx[225] * xx[11] + xx[14] * xx[125]);

  xx[48] = - (xx[241] * xx[14] - xx[11] * xx[242]);

  xx[49] = xx[241] * xx[11] + xx[14] * xx[242];

  xx[50] = xx[225] * xx[14] - xx[11] * xx[125];

  xx[146] = xx[21] * xx[83] - xx[25] * xx[103];

  xx[147] = - (xx[21] * xx[82] + xx[25] * xx[77]);

  xx[148] = - (xx[25] * xx[82] - xx[21] * xx[77]);

  xx[149] = - (xx[21] * xx[103] + xx[25] * xx[83]);

  pm_math_quatCompose(xx + 47, xx + 146, xx + 153);

  pm_math_quatXform(xx + 153, xx + 267, xx + 179);

  pm_math_quatXform(xx + 146, xx + 126, xx + 153);

  pm_math_quatXform(xx + 47, xx + 153, xx + 146);

  xx[8] = xx[266] * xx[14] + xx[270] * xx[11];

  xx[47] = xx[80] * xx[8] * xx[11] + xx[59];

  xx[48] = xx[80] * xx[8] * xx[14] - xx[266];

  xx[49] = (xx[14] * xx[61] * xx[14] + xx[61] * xx[11] * xx[11]) * xx[80] - xx

    [71];

  pm_math_quatXform(xx + 91, xx + 47, xx + 50);

  xx[8] = xx[191] + xx[174] + xx[151] + xx[138] - xx[98] + xx[23];

  xx[11] = xx[192] + xx[175] + xx[152] + xx[139] - xx[34] + xx[27];

  xx[14] = xx[53] * xx[2];

  xx[15] = sin(xx[14]);

  xx[19] = xx[62] * xx[15];

  xx[23] = cos(xx[14]);

  xx[14] = xx[62] * xx[23];

  xx[27] = xx[56] * xx[23];

  xx[23] = xx[56] * xx[15];

  xx[91] = xx[19] - xx[14];

  xx[92] = - (xx[27] + xx[23]);

  xx[93] = xx[23] - xx[27];

  xx[94] = - (xx[19] + xx[14]);

  pm_math_quatCompose(xx + 215, xx + 91, xx + 137);

  pm_math_quatXform(xx + 137, xx + 84, xx + 32);

  pm_math_quatXform(xx + 91, xx + 324, xx + 47);

  xx[91] = xx[243] - xx[47];

  xx[92] = - xx[48];

  xx[93] = xx[262] - xx[49];

  pm_math_quatXform(xx + 215, xx + 91, xx + 47);

  xx[14] = xx[68] * xx[2];

  xx[15] = sin(xx[14]);

  xx[19] = cos(xx[14]);

  xx[91] = - (xx[15] * xx[256] - xx[224] * xx[19]);

  xx[92] = - (xx[19] * xx[315] + xx[319] * xx[15]);

  xx[93] = xx[15] * xx[315] - xx[319] * xx[19];

  xx[94] = xx[224] * xx[15] + xx[19] * xx[256];

  xx[137] = xx[21] * xx[75] - xx[25] * xx[81];

  xx[138] = - (xx[21] * xx[70] + xx[25] * xx[69]);

  xx[139] = - (xx[25] * xx[70] - xx[21] * xx[69]);

  xx[140] = - (xx[21] * xx[81] + xx[25] * xx[75]);

  pm_math_quatCompose(xx + 91, xx + 137, xx + 68);

  pm_math_quatXform(xx + 68, xx + 267, xx + 75);

  pm_math_quatXform(xx + 137, xx + 126, xx + 68);

  pm_math_quatXform(xx + 91, xx + 68, xx + 81);

  xx[14] = xx[410] * xx[19] - xx[409] * xx[15];

  xx[68] = xx[80] * xx[14] * xx[15] + xx[39];

  xx[69] = xx[80] * xx[14] * xx[19] - xx[410];

  xx[70] = xx[89] - (xx[19] * xx[107] * xx[19] + xx[107] * xx[15] * xx[15]) *

    xx[80];

  pm_math_quatXform(xx + 142, xx + 68, xx + 91);

  xx[14] = xx[64] * xx[2];

  xx[15] = cos(xx[14]);

  xx[19] = xx[312] * xx[15];

  xx[23] = sin(xx[14]);

  xx[14] = xx[312] * xx[23];

  xx[27] = xx[379] * xx[23];

  xx[23] = xx[379] * xx[15];

  xx[68] = - (xx[19] + xx[14]);

  xx[69] = xx[27] - xx[23];

  xx[70] = - (xx[23] + xx[27]);

  xx[71] = xx[14] - xx[19];

  pm_math_quatCompose(xx + 215, xx + 68, xx + 137);

  pm_math_quatXform(xx + 137, xx + 84, xx + 141);

  pm_math_quatXform(xx + 68, xx + 456, xx + 137);

  xx[68] = - (xx[314] + xx[137]);

  xx[69] = - xx[138];

  xx[70] = xx[462] - xx[139];

  pm_math_quatXform(xx + 215, xx + 68, xx + 137);

  xx[14] = xx[99] * xx[2];

  xx[15] = sin(xx[14]);

  xx[19] = cos(xx[14]);

  xx[68] = - (xx[451] * xx[15] - xx[19] * xx[400]);

  xx[69] = - (xx[501] * xx[19] - xx[15] * xx[502]);

  xx[70] = xx[501] * xx[15] + xx[19] * xx[502];

  xx[71] = xx[15] * xx[400] + xx[451] * xx[19];

  xx[149] = xx[21] * xx[110] - xx[25] * xx[133];

  xx[150] = - (xx[21] * xx[109] + xx[25] * xx[100]);

  xx[151] = - (xx[25] * xx[109] - xx[21] * xx[100]);

  xx[152] = - (xx[21] * xx[133] + xx[25] * xx[110]);

  pm_math_quatCompose(xx + 68, xx + 149, xx + 153);

  pm_math_quatXform(xx + 153, xx + 267, xx + 98);

  pm_math_quatXform(xx + 149, xx + 126, xx + 153);

  pm_math_quatXform(xx + 68, xx + 153, xx + 149);

  xx[14] = xx[547] * xx[15] - xx[548] * xx[19];

  xx[68] = xx[80] * xx[14] * xx[15] + xx[130];

  xx[69] = xx[80] * xx[14] * xx[19] + xx[548];

  xx[70] = (xx[19] * xx[162] * xx[19] + xx[162] * xx[15] * xx[15]) * xx[80] -

    xx[163];

  pm_math_quatXform(xx + 158, xx + 68, xx + 152);

  xx[14] = xx[65] * xx[2];

  xx[15] = cos(xx[14]);

  xx[19] = xx[312] * xx[15];

  xx[23] = sin(xx[14]);

  xx[14] = xx[312] * xx[23];

  xx[27] = xx[379] * xx[15];

  xx[15] = xx[379] * xx[23];

  xx[68] = xx[19] + xx[14];

  xx[69] = xx[27] - xx[15];

  xx[70] = xx[27] + xx[15];

  xx[71] = xx[19] - xx[14];

  pm_math_quatCompose(xx + 215, xx + 68, xx + 155);

  pm_math_quatXform(xx + 155, xx + 84, xx + 159);

  pm_math_quatXform(xx + 68, xx + 595, xx + 155);

  xx[68] = - (xx[446] + xx[155]);

  xx[69] = - xx[156];

  xx[70] = xx[601] - xx[157];

  pm_math_quatXform(xx + 215, xx + 68, xx + 155);

  xx[14] = xx[111] * xx[2];

  xx[15] = sin(xx[14]);

  xx[19] = cos(xx[14]);

  xx[68] = - (xx[594] * xx[15] + xx[19] * xx[536]);

  xx[69] = - (xx[638] * xx[19] + xx[15] * xx[642]);

  xx[70] = xx[638] * xx[15] - xx[19] * xx[642];

  xx[71] = xx[594] * xx[19] - xx[15] * xx[536];

  xx[182] = xx[21] * xx[136] - xx[25] * xx[28];

  xx[183] = - (xx[21] * xx[134] + xx[25] * xx[132]);

  xx[184] = - (xx[25] * xx[134] - xx[21] * xx[132]);

  xx[185] = - (xx[21] * xx[28] + xx[25] * xx[136]);

  pm_math_quatCompose(xx + 68, xx + 182, xx + 190);

  pm_math_quatXform(xx + 190, xx + 267, xx + 27);

  pm_math_quatXform(xx + 182, xx + 126, xx + 109);

  pm_math_quatXform(xx + 68, xx + 109, xx + 132);

  xx[14] = xx[684] * xx[15] - xx[685] * xx[19];

  xx[68] = xx[80] * xx[14] * xx[15] + xx[196];

  xx[69] = xx[80] * xx[14] * xx[19] + xx[685];

  xx[70] = (xx[19] * xx[197] * xx[19] + xx[197] * xx[15] * xx[15]) * xx[80] -

    xx[206];

  pm_math_quatXform(xx + 202, xx + 68, xx + 109);

  xx[14] = xx[66] * xx[2];

  xx[15] = cos(xx[14]);

  xx[19] = sin(xx[14]);

  xx[68] = xx[15] * xx[215] + xx[218] * xx[19];

  xx[69] = xx[15] * xx[216] - xx[217] * xx[19];

  xx[70] = xx[15] * xx[217] + xx[216] * xx[19];

  xx[71] = xx[15] * xx[218] - xx[215] * xx[19];

  pm_math_quatXform(xx + 68, xx + 84, xx + 64);

  xx[14] = xx[54] * xx[19];

  xx[23] = xx[738] * xx[19];

  xx[68] = 0.02540000000681907 - xx[80] * (xx[14] * xx[19] - xx[15] * xx[23]);

  xx[69] = xx[738] - (xx[15] * xx[14] + xx[23] * xx[19]) * xx[80];

  xx[70] = xx[791];

  pm_math_quatXform(xx + 215, xx + 68, xx + 173);

  xx[14] = xx[24] * xx[2];

  xx[15] = sin(xx[14]);

  xx[19] = cos(xx[14]);

  xx[68] = - (xx[675] * xx[15] + xx[19] * xx[647]);

  xx[69] = - (xx[721] * xx[19] - xx[15] * xx[722]);

  xx[70] = xx[721] * xx[15] + xx[19] * xx[722];

  xx[71] = xx[675] * xx[19] - xx[15] * xx[647];

  xx[182] = xx[21] * xx[31] - xx[25] * xx[35];

  xx[183] = - (xx[21] * xx[26] + xx[25] * xx[17]);

  xx[184] = - (xx[25] * xx[26] - xx[21] * xx[17]);

  xx[185] = - (xx[21] * xx[35] + xx[25] * xx[31]);

  pm_math_quatCompose(xx + 68, xx + 182, xx + 190);

  pm_math_quatXform(xx + 190, xx + 267, xx + 197);

  pm_math_quatXform(xx + 182, xx + 126, xx + 190);

  pm_math_quatXform(xx + 68, xx + 190, xx + 182);

  xx[14] = xx[747] * xx[19] + xx[746] * xx[15];

  xx[68] = xx[194] - xx[80] * xx[14] * xx[15];

  xx[69] = xx[747] - xx[80] * xx[14] * xx[19];

  xx[70] = (xx[19] * xx[221] * xx[19] + xx[221] * xx[15] * xx[15]) * xx[80] -

    xx[222];

  pm_math_quatXform(xx + 226, xx + 68, xx + 190);

  xx[328] = fabs(xx[44] + xx[187] + xx[7] - (xx[179] + xx[146] + xx[50] - xx[97])

                 - xx[78]);

  xx[329] = fabs(xx[45] + xx[188] + xx[8] - (xx[180] + xx[147] + xx[51] - xx[101])

                 - xx[88]);

  xx[330] = fabs(xx[46] + xx[189] + xx[11] - (xx[181] + xx[148] + xx[52] - xx[36])

                 + xx[37]);

  xx[331] = fabs(xx[32] + xx[47] + xx[7] - (xx[75] + xx[81] + xx[91] - xx[120])

                 - xx[38]);

  xx[332] = fabs(xx[33] + xx[48] + xx[8] - (xx[76] + xx[82] + xx[92] - xx[121])

                 - xx[118]);

  xx[333] = fabs(xx[34] + xx[49] + xx[11] - (xx[77] + xx[83] + xx[93] - xx[124])

                 - xx[6]);

  xx[334] = fabs(xx[141] + xx[137] + xx[7] - (xx[98] + xx[149] + xx[152] - xx

    [170]) + xx[129]);

  xx[335] = fabs(xx[142] + xx[138] + xx[8] - (xx[99] + xx[150] + xx[153] - xx

    [171]) - xx[164]);

  xx[336] = fabs(xx[143] + xx[139] + xx[11] - (xx[100] + xx[151] + xx[154] - xx

    [172]) + xx[166]);

  xx[337] = fabs(xx[159] + xx[155] + xx[7] - (xx[27] + xx[132] + xx[109] - xx

    [209]) + xx[207]);

  xx[338] = fabs(xx[160] + xx[156] + xx[8] - (xx[28] + xx[133] + xx[110] - xx

    [213]) - xx[208]);

  xx[339] = fabs(xx[161] + xx[157] + xx[11] - (xx[29] + xx[134] + xx[111] - xx

    [214]) + xx[195]);

  xx[340] = fabs(xx[64] + xx[173] + xx[7] - (xx[197] + xx[182] + xx[190] - xx

    [230]) - xx[201]);

  xx[341] = fabs(xx[65] + xx[174] + xx[8] - (xx[198] + xx[183] + xx[191] - xx

    [231]) - xx[223]);

  xx[342] = fabs(xx[66] + xx[175] + xx[11] - (xx[199] + xx[184] + xx[192] - xx

    [232]) + xx[58]);

  ii[0] = 328;



  {

    int ll;

    for (ll = 329; ll < 343; ++ll)

      if (xx[ll] > xx[ii[0]])

        ii[0] = ll;

  }



  ii[0] -= 328;

  xx[6] = xx[328 + (ii[0])];

  xx[7] = 0.01;

  xx[8] = xx[6] - xx[7];

  if (xx[8] < 0.0)

    ii[1] = -1;

  else if (xx[8] > 0.0)

    ii[1] = +1;

  else

    ii[1] = 0;

  ii[2] = ii[1];

  if (0 > ii[2])

    ii[2] = 0;

  if (ii[2] != 0) {

    switch (ii[0])

    {

     case 0:

     case 1:

     case 2:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_11/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 3:

     case 4:

     case 5:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_12/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 6:

     case 7:

     case 8:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_13/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 9:

     case 10:

     case 11:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_14/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 12:

     case 13:

     case 14:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_1/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }

    }

  }



  xx[6] = xx[2] * xx[815];

  xx[8] = sin(xx[6]);

  xx[11] = cos(xx[6]);

  xx[6] = xx[1] * xx[8] - xx[5] * xx[11];

  xx[14] = xx[2] * xx[817];

  xx[15] = cos(xx[14]);

  xx[17] = xx[6] * xx[15];

  xx[19] = sin(xx[14]);

  xx[14] = xx[1] * xx[11] + xx[5] * xx[8];

  xx[23] = xx[19] * xx[14];

  xx[24] = xx[12] * xx[11] + xx[13] * xx[8];

  xx[26] = xx[12] * xx[8] - xx[13] * xx[11];

  xx[8] = - (xx[15] * xx[24] + xx[26] * xx[19]);

  xx[11] = xx[19] * xx[24] - xx[26] * xx[15];

  xx[27] = xx[6] * xx[19] + xx[15] * xx[14];

  xx[31] = xx[17] - xx[23];

  xx[32] = xx[8];

  xx[33] = xx[11];

  xx[34] = xx[27];

  xx[28] = xx[21] * xx[822] - xx[25] * xx[819];

  xx[29] = xx[21] * xx[821] + xx[25] * xx[820];

  xx[35] = - xx[29];

  xx[36] = xx[25] * xx[821] - xx[21] * xx[820];

  xx[37] = - xx[36];

  xx[38] = xx[21] * xx[819] + xx[25] * xx[822];

  xx[40] = - xx[38];

  xx[42] = xx[28];

  xx[43] = xx[35];

  xx[44] = xx[37];

  xx[45] = xx[40];

  xx[46] = xx[25] * xx[829] - xx[41] * xx[826];

  xx[47] = xx[25] * xx[828] - xx[41] * xx[827];

  xx[48] = xx[41] * xx[828] + xx[25] * xx[827];

  xx[49] = - xx[48];

  xx[50] = xx[41] * xx[829] + xx[25] * xx[826];

  xx[41] = - xx[50];

  xx[68] = xx[46];

  xx[69] = xx[47];

  xx[70] = xx[49];

  xx[71] = xx[41];

  xx[51] = xx[2] * xx[835];

  xx[52] = cos(xx[51]);

  xx[53] = xx[2] * xx[833];

  xx[58] = sin(xx[53]);

  xx[61] = xx[57] * xx[58];

  xx[64] = xx[56] * xx[61];

  xx[65] = xx[63] * xx[58];

  xx[58] = xx[62] * xx[65];

  xx[66] = cos(xx[53]);

  xx[53] = xx[62] * xx[66];

  xx[75] = xx[64] + xx[58] - xx[53];

  xx[76] = sin(xx[51]);

  xx[51] = xx[58] + xx[53] + xx[64];

  xx[53] = xx[52] * xx[75] + xx[76] * xx[51];

  xx[58] = xx[62] * xx[61];

  xx[61] = xx[56] * xx[66];

  xx[64] = xx[56] * xx[65];

  xx[65] = xx[58] + xx[61] - xx[64];

  xx[66] = xx[61] - xx[58] + xx[64];

  xx[58] = xx[65] * xx[52] - xx[76] * xx[66];

  xx[61] = xx[52] * xx[66] + xx[65] * xx[76];

  xx[64] = xx[52] * xx[51] - xx[76] * xx[75];

  xx[91] = xx[53];

  xx[92] = xx[58];

  xx[93] = xx[61];

  xx[94] = xx[64];

  pm_math_quatCompose(xx + 68, xx + 91, xx + 97);

  pm_math_quatCompose(xx + 42, xx + 97, xx + 136);

  pm_math_quatCompose(xx + 31, xx + 136, xx + 140);

  xx[81] = xx[80] * (xx[137] * xx[139] - xx[136] * xx[138]);

  xx[82] = (xx[136] * xx[137] + xx[138] * xx[139]) * xx[80];

  xx[83] = xx[22] - (xx[137] * xx[137] + xx[138] * xx[138]) * xx[80];

  pm_math_cross3(xx + 81, xx + 84, xx + 109);

  pm_math_quatXform(xx + 140, xx + 109, xx + 81);

  xx[140] = xx[75];

  xx[141] = xx[65];

  xx[142] = xx[66];

  xx[143] = xx[51];

  xx[77] = xx[87] * xx[76];

  xx[78] = xx[52] * xx[77];

  xx[88] = xx[90] * xx[76];

  xx[89] = xx[88] * xx[76];

  xx[101] = xx[79] + xx[80] * (xx[78] + xx[89]) - xx[90];

  xx[79] = xx[77] * xx[76];

  xx[77] = xx[52] * xx[88];

  xx[88] = xx[87] - (xx[79] - xx[77]) * xx[80];

  xx[109] = - xx[101];

  xx[110] = - xx[88];

  xx[111] = xx[96];

  pm_math_quatXform(xx + 140, xx + 109, xx + 132);

  xx[96] = xx[105] * xx[66];

  xx[109] = xx[65];

  xx[110] = xx[66];

  xx[111] = xx[51];

  xx[103] = xx[104] * xx[51] - xx[65] * xx[105];

  xx[105] = xx[104] * xx[66];

  xx[144] = xx[96];

  xx[145] = xx[103];

  xx[146] = - xx[105];

  pm_math_cross3(xx + 109, xx + 144, xx + 147);

  xx[104] = xx[3] + (xx[96] * xx[75] + xx[147]) * xx[80];

  xx[3] = xx[132] - xx[104];

  xx[96] = xx[108] - (xx[75] * xx[103] + xx[148]) * xx[80];

  xx[103] = xx[133] + xx[96];

  xx[107] = xx[18] + xx[80] * (xx[149] - xx[105] * xx[75]);

  xx[18] = xx[134] - xx[107];

  xx[108] = xx[3];

  xx[109] = xx[103];

  xx[110] = xx[18];

  pm_math_quatXform(xx + 68, xx + 108, xx + 132);

  pm_math_quatXform(xx + 68, xx + 112, xx + 144);

  xx[105] = xx[102] + xx[144];

  xx[111] = xx[132] + xx[105];

  xx[118] = xx[123] + xx[145];

  xx[120] = xx[133] + xx[118];

  xx[121] = xx[115] + xx[146];

  xx[115] = xx[134] + xx[121];

  xx[132] = xx[111];

  xx[133] = xx[120];

  xx[134] = xx[115];

  pm_math_quatXform(xx + 42, xx + 132, xx + 144);

  pm_math_quatXform(xx + 42, xx + 126, xx + 147);

  xx[124] = xx[145] + xx[148];

  xx[125] = xx[144] + xx[147];

  xx[129] = xx[124] * xx[19] - xx[125] * xx[15];

  xx[144] = xx[131] * xx[15] + xx[135] * xx[19];

  xx[145] = xx[80] * xx[144] * xx[19];

  xx[146] = xx[80] * xx[19] * xx[129] - (xx[124] - xx[145]) - xx[135];

  xx[149] = xx[6];

  xx[150] = xx[14];

  xx[151] = xx[26];

  xx[152] = xx[80] * xx[144] * xx[15];

  xx[144] = xx[125] + xx[80] * xx[15] * xx[129] + xx[152] - xx[131];

  xx[129] = xx[26] * xx[144];

  xx[153] = xx[26] * xx[146];

  xx[154] = xx[6] * xx[144] - xx[146] * xx[14];

  xx[155] = - xx[129];

  xx[156] = xx[153];

  xx[157] = xx[154];

  pm_math_cross3(xx + 149, xx + 155, xx + 158);

  xx[161] = - (xx[23] - xx[17]);

  xx[162] = xx[8];

  xx[163] = xx[11];

  xx[164] = xx[27];

  pm_math_quatCompose(xx + 161, xx + 42, xx + 170);

  pm_math_quatCompose(xx + 170, xx + 97, xx + 179);

  xx[8] = xx[4] * xx[100];

  xx[11] = xx[4] * xx[98] + xx[99];

  xx[155] = xx[8];

  xx[156] = xx[100];

  xx[157] = - xx[11];

  pm_math_cross3(xx + 98, xx + 155, xx + 183);

  xx[17] = xx[97] * xx[100];

  xx[155] = xx[22] + (xx[183] - xx[97] * xx[8]) * xx[80];

  xx[156] = xx[80] * (xx[184] - xx[17]) - xx[4];

  xx[157] = xx[80] * (xx[185] + xx[97] * xx[11]);

  pm_math_cross3(xx + 155, xx + 84, xx + 183);

  pm_math_quatXform(xx + 179, xx + 183, xx + 155);

  xx[11] = - (xx[115] * xx[4]);

  xx[183] = xx[11];

  xx[184] = - xx[115];

  xx[185] = xx[120] + xx[111] * xx[4];

  pm_math_quatXform(xx + 42, xx + 183, xx + 186);

  pm_math_quatXform(xx + 42, xx + 167, xx + 183);

  xx[189] = xx[186] + xx[183];

  xx[190] = xx[187] + xx[184];

  xx[191] = xx[188] + xx[185];

  pm_math_quatXform(xx + 161, xx + 189, xx + 186);

  xx[23] = xx[98] - xx[4] * xx[99];

  xx[189] = - xx[100];

  xx[190] = xx[8];

  xx[191] = xx[23];

  pm_math_cross3(xx + 98, xx + 189, xx + 197);

  xx[189] = xx[4] + (xx[17] + xx[197]) * xx[80];

  xx[190] = xx[22] + xx[80] * (xx[198] - xx[4] * xx[17]);

  xx[191] = xx[80] * (xx[199] - xx[97] * xx[23]);

  pm_math_cross3(xx + 189, xx + 84, xx + 197);

  pm_math_quatXform(xx + 179, xx + 197, xx + 189);

  xx[197] = xx[115];

  xx[198] = xx[11];

  xx[199] = xx[120] * xx[4] - xx[111];

  pm_math_quatXform(xx + 42, xx + 197, xx + 200);

  pm_math_quatXform(xx + 42, xx + 176, xx + 197);

  xx[203] = xx[200] + xx[197];

  xx[204] = xx[201] + xx[198];

  xx[205] = xx[202] + xx[199];

  pm_math_quatXform(xx + 161, xx + 203, xx + 200);

  xx[203] = xx[80] * (xx[98] * xx[100] - xx[97] * xx[99]);

  xx[204] = (xx[97] * xx[98] + xx[99] * xx[100]) * xx[80];

  xx[205] = xx[22] - (xx[98] * xx[98] + xx[99] * xx[99]) * xx[80];

  pm_math_cross3(xx + 203, xx + 84, xx + 206);

  pm_math_quatXform(xx + 179, xx + 206, xx + 203);

  xx[179] = xx[35];

  xx[180] = xx[37];

  xx[181] = xx[40];

  xx[8] = xx[111] * xx[38];

  xx[11] = xx[120] * xx[38];

  xx[17] = xx[111] * xx[29] + xx[36] * xx[120];

  xx[206] = xx[8];

  xx[207] = xx[11];

  xx[208] = - xx[17];

  pm_math_cross3(xx + 179, xx + 206, xx + 209);

  xx[23] = xx[117] * xx[38];

  xx[27] = xx[119] * xx[38];

  xx[35] = xx[117] * xx[29] + xx[36] * xx[119];

  xx[206] = xx[23];

  xx[207] = xx[27];

  xx[208] = - xx[35];

  pm_math_cross3(xx + 179, xx + 206, xx + 212);

  xx[37] = xx[80] * (xx[212] + xx[23] * xx[28]);

  xx[23] = (xx[27] * xx[28] + xx[213]) * xx[80];

  xx[27] = (xx[214] - xx[35] * xx[28]) * xx[80];

  xx[206] = xx[80] * (xx[209] + xx[8] * xx[28]) + xx[37] - xx[120] - xx[119];

  xx[207] = xx[111] + xx[80] * (xx[210] + xx[11] * xx[28]) + xx[23] + xx[117];

  xx[208] = (xx[211] - xx[28] * xx[17]) * xx[80] + xx[27];

  pm_math_quatXform(xx + 161, xx + 206, xx + 209);

  pm_math_quatCompose(xx + 170, xx + 68, xx + 212);

  pm_math_quatCompose(xx + 212, xx + 91, xx + 216);

  xx[8] = xx[61] * xx[61];

  xx[11] = xx[64] * xx[64];

  xx[17] = xx[61] * xx[58];

  xx[35] = xx[53] * xx[64];

  xx[40] = xx[53] * xx[61];

  xx[111] = xx[64] * xx[58];

  xx[206] = xx[22] - (xx[8] + xx[11]) * xx[80];

  xx[207] = xx[80] * (xx[17] - xx[35]);

  xx[208] = (xx[40] + xx[111]) * xx[80];

  pm_math_cross3(xx + 206, xx + 84, xx + 220);

  pm_math_quatXform(xx + 216, xx + 220, xx + 206);

  xx[220] = xx[47];

  xx[221] = xx[49];

  xx[222] = xx[41];

  xx[41] = xx[48] * xx[103];

  xx[49] = xx[50] * xx[18];

  xx[115] = xx[41] + xx[49];

  xx[120] = xx[103] * xx[47];

  xx[166] = xx[18] * xx[47];

  xx[223] = - xx[115];

  xx[224] = - xx[120];

  xx[225] = - xx[166];

  pm_math_cross3(xx + 220, xx + 223, xx + 226);

  xx[174] = xx[48] * xx[73];

  xx[175] = xx[50] * xx[74];

  xx[182] = xx[174] - xx[175];

  xx[192] = xx[73] * xx[47];

  xx[193] = xx[74] * xx[47];

  xx[223] = xx[182];

  xx[224] = xx[192];

  xx[225] = - xx[193];

  pm_math_cross3(xx + 220, xx + 223, xx + 229);

  xx[195] = (xx[46] * xx[182] + xx[229]) * xx[80];

  xx[182] = xx[80] * (xx[230] + xx[192] * xx[46]);

  xx[192] = (xx[231] - xx[193] * xx[46]) * xx[80];

  xx[223] = xx[80] * (xx[226] - xx[115] * xx[46]) + xx[195];

  xx[224] = xx[80] * (xx[227] - xx[120] * xx[46]) + xx[182] - xx[18] - xx[74];

  xx[225] = xx[103] + xx[80] * (xx[228] - xx[166] * xx[46]) + xx[192] - xx[73];

  pm_math_quatXform(xx + 170, xx + 223, xx + 226);

  xx[115] = xx[58] * xx[58];

  xx[120] = xx[61] * xx[64];

  xx[61] = xx[53] * xx[58];

  xx[223] = (xx[35] + xx[17]) * xx[80];

  xx[224] = xx[22] - (xx[11] + xx[115]) * xx[80];

  xx[225] = xx[80] * (xx[120] - xx[61]);

  pm_math_cross3(xx + 223, xx + 84, xx + 229);

  pm_math_quatXform(xx + 216, xx + 229, xx + 223);

  xx[11] = xx[48] * xx[3];

  xx[17] = xx[3] * xx[47];

  xx[35] = xx[17] - xx[49];

  xx[49] = xx[48] * xx[18];

  xx[229] = xx[11];

  xx[230] = xx[35];

  xx[231] = xx[49];

  pm_math_cross3(xx + 220, xx + 229, xx + 232);

  xx[53] = xx[48] * xx[72];

  xx[58] = xx[72] * xx[47];

  xx[64] = xx[175] - xx[58];

  xx[166] = xx[48] * xx[74];

  xx[229] = xx[53];

  xx[230] = - xx[64];

  xx[231] = xx[166];

  pm_math_cross3(xx + 220, xx + 229, xx + 235);

  xx[175] = xx[80] * (xx[235] + xx[53] * xx[46]);

  xx[53] = xx[80] * (xx[236] - xx[64] * xx[46]);

  xx[64] = (xx[166] * xx[46] + xx[237]) * xx[80];

  xx[229] = xx[18] + (xx[11] * xx[46] + xx[232]) * xx[80] + xx[175] + xx[74];

  xx[230] = (xx[46] * xx[35] + xx[233]) * xx[80] + xx[53];

  xx[231] = (xx[49] * xx[46] + xx[234]) * xx[80] + xx[64] - xx[3] - xx[72];

  pm_math_quatXform(xx + 170, xx + 229, xx + 232);

  xx[229] = xx[80] * (xx[111] - xx[40]);

  xx[230] = (xx[61] + xx[120]) * xx[80];

  xx[231] = xx[22] - (xx[115] + xx[8]) * xx[80];

  pm_math_cross3(xx + 229, xx + 84, xx + 235);

  pm_math_quatXform(xx + 216, xx + 235, xx + 229);

  xx[8] = xx[50] * xx[3];

  xx[11] = xx[50] * xx[103];

  xx[18] = xx[17] - xx[41];

  xx[216] = xx[8];

  xx[217] = xx[11];

  xx[218] = xx[18];

  pm_math_cross3(xx + 220, xx + 216, xx + 235);

  xx[17] = xx[50] * xx[72];

  xx[35] = xx[50] * xx[73];

  xx[40] = xx[58] + xx[174];

  xx[216] = xx[17];

  xx[217] = - xx[35];

  xx[218] = xx[40];

  pm_math_cross3(xx + 220, xx + 216, xx + 244);

  xx[41] = (xx[17] * xx[46] + xx[244]) * xx[80];

  xx[17] = xx[80] * (xx[245] - xx[35] * xx[46]);

  xx[35] = (xx[40] * xx[46] + xx[246]) * xx[80];

  xx[216] = (xx[8] * xx[46] + xx[235]) * xx[80] + xx[41] - xx[103] + xx[73];

  xx[217] = xx[3] + (xx[11] * xx[46] + xx[236]) * xx[80] + xx[17] + xx[72];

  xx[218] = (xx[46] * xx[18] + xx[237]) * xx[80] + xx[35];

  pm_math_quatXform(xx + 170, xx + 216, xx + 235);

  pm_math_quatCompose(xx + 212, xx + 140, xx + 216);

  xx[3] = xx[52] * xx[216] + xx[219] * xx[76];

  xx[8] = xx[52] * xx[217] - xx[218] * xx[76];

  xx[11] = xx[52] * xx[218] + xx[217] * xx[76];

  xx[18] = xx[52] * xx[219] - xx[216] * xx[76];

  xx[244] = xx[3];

  xx[245] = xx[8];

  xx[246] = xx[11];

  xx[247] = xx[18];

  xx[40] = xx[57] * xx[76];

  xx[49] = xx[80] * xx[52] * xx[40];

  xx[58] = xx[80] * xx[40] * xx[76] - xx[57];

  xx[248] = xx[74] * xx[49] + xx[55];

  xx[249] = xx[106] + xx[74] * xx[58];

  xx[250] = xx[73] * xx[58] - xx[72] * xx[49];

  pm_math_quatXform(xx + 244, xx + 248, xx + 251);

  xx[244] = - (xx[63] * xx[88]);

  xx[245] = xx[63] * xx[101] - xx[60];

  xx[246] = xx[57] * xx[88];

  pm_math_quatXform(xx + 140, xx + 244, xx + 247);

  xx[40] = xx[67] * xx[51];

  xx[49] = xx[65] * xx[67];

  xx[58] = xx[40] * xx[75] - xx[49] * xx[66];

  xx[60] = xx[80] * xx[58];

  xx[61] = (xx[40] * xx[51] + xx[65] * xx[49]) * xx[80];

  xx[103] = xx[49] * xx[75] + xx[40] * xx[66];

  xx[40] = xx[103] * xx[80];

  xx[244] = xx[247] + xx[60];

  xx[245] = xx[248] + xx[61] - xx[67];

  xx[246] = xx[249] - xx[40];

  pm_math_quatXform(xx + 212, xx + 244, xx + 247);

  xx[244] = xx[8];

  xx[245] = xx[11];

  xx[246] = xx[18];

  xx[49] = xx[72] * xx[18];

  xx[111] = xx[73] * xx[18];

  xx[18] = xx[72] * xx[8] - xx[11] * xx[73];

  xx[258] = - xx[49];

  xx[259] = xx[111];

  xx[260] = xx[18];

  pm_math_cross3(xx + 244, xx + 258, xx + 263);

  xx[8] = xx[80] * (xx[79] - xx[77]) - xx[87];

  xx[11] = (xx[78] + xx[89]) * xx[80] - xx[90];

  xx[77] = xx[219] * xx[11];

  xx[78] = xx[8] * xx[219];

  xx[79] = xx[217] * xx[11] - xx[8] * xx[218];

  xx[244] = - xx[77];

  xx[245] = xx[78];

  xx[246] = xx[79];

  pm_math_cross3(xx + 217, xx + 244, xx + 258);

  xx[87] = xx[2] * xx[858];

  xx[89] = cos(xx[87]);

  xx[90] = xx[2] * xx[856];

  xx[115] = cos(xx[90]);

  xx[120] = sin(xx[90]);

  xx[90] = xx[122] * xx[115] + xx[165] * xx[120];

  xx[166] = xx[89] * xx[90];

  xx[174] = xx[165] * xx[115] - xx[122] * xx[120];

  xx[122] = sin(xx[87]);

  xx[87] = xx[174] * xx[122];

  xx[165] = xx[239] * xx[115] - xx[240] * xx[120];

  xx[193] = xx[240] * xx[115] + xx[239] * xx[120];

  xx[115] = - (xx[165] * xx[89] - xx[122] * xx[193]);

  xx[120] = xx[165] * xx[122] + xx[89] * xx[193];

  xx[238] = xx[174] * xx[89] - xx[122] * xx[90];

  xx[239] = - (xx[166] + xx[87]);

  xx[240] = xx[115];

  xx[241] = xx[120];

  xx[242] = xx[238];

  xx[244] = xx[21] * xx[863] - xx[25] * xx[860];

  xx[245] = xx[21] * xx[862] + xx[25] * xx[861];

  xx[246] = - xx[245];

  xx[250] = xx[25] * xx[862] - xx[21] * xx[861];

  xx[255] = - xx[250];

  xx[256] = xx[21] * xx[860] + xx[25] * xx[863];

  xx[261] = - xx[256];

  xx[271] = xx[244];

  xx[272] = xx[246];

  xx[273] = xx[255];

  xx[274] = xx[261];

  pm_math_quatCompose(xx + 239, xx + 271, xx + 275);

  xx[239] = (xx[250] * xx[244] + xx[245] * xx[256]) * xx[80];

  xx[240] = xx[80] * (xx[250] * xx[256] - xx[244] * xx[245]);

  xx[241] = xx[22] - (xx[245] * xx[245] + xx[250] * xx[250]) * xx[80];

  pm_math_cross3(xx + 239, xx + 267, xx + 283);

  pm_math_quatXform(xx + 275, xx + 283, xx + 239);

  pm_math_quatXform(xx + 271, xx + 126, xx + 275);

  xx[242] = xx[276] * xx[122] - xx[89] * xx[275];

  xx[277] = xx[266] * xx[122] - xx[270] * xx[89];

  xx[278] = xx[80] * xx[277] * xx[122];

  xx[279] = xx[80] * xx[122] * xx[242] - (xx[276] + xx[278]) + xx[266];

  xx[283] = - xx[90];

  xx[284] = - xx[193];

  xx[285] = xx[283];

  xx[286] = xx[174];

  xx[287] = xx[284];

  xx[288] = xx[80] * xx[277] * xx[89];

  xx[277] = xx[275] + xx[80] * xx[89] * xx[242] - xx[288] - xx[270];

  xx[242] = xx[277] * xx[193];

  xx[289] = xx[279] * xx[193];

  xx[290] = xx[277] * xx[90] + xx[279] * xx[174];

  xx[291] = xx[242];

  xx[292] = - xx[289];

  xx[293] = - xx[290];

  pm_math_cross3(xx + 285, xx + 291, xx + 294);

  xx[300] = - (xx[87] + xx[166]);

  xx[301] = xx[115];

  xx[302] = xx[120];

  xx[303] = xx[238];

  pm_math_quatCompose(xx + 300, xx + 271, xx + 304);

  pm_math_quatXform(xx + 304, xx + 280, xx + 285);

  pm_math_quatXform(xx + 271, xx + 167, xx + 291);

  pm_math_quatXform(xx + 300, xx + 291, xx + 308);

  pm_math_quatXform(xx + 304, xx + 297, xx + 291);

  pm_math_quatXform(xx + 271, xx + 176, xx + 315);

  pm_math_quatXform(xx + 300, xx + 315, xx + 318);

  xx[87] = xx[102] * xx[307];

  xx[115] = xx[102] * xx[305] + xx[123] * xx[306];

  xx[315] = - xx[87];

  xx[316] = - (xx[123] * xx[307]);

  xx[317] = xx[115];

  pm_math_cross3(xx + 305, xx + 315, xx + 321);

  xx[315] = xx[246];

  xx[316] = xx[255];

  xx[317] = xx[261];

  xx[120] = xx[117] * xx[256];

  xx[166] = xx[119] * xx[256];

  xx[238] = xx[117] * xx[245] + xx[250] * xx[119];

  xx[328] = xx[120];

  xx[329] = xx[166];

  xx[330] = - xx[238];

  pm_math_cross3(xx + 315, xx + 328, xx + 331);

  xx[315] = xx[80] * (xx[331] + xx[120] * xx[244]) - xx[119];

  xx[316] = xx[117] + (xx[166] * xx[244] + xx[332]) * xx[80];

  xx[317] = (xx[333] - xx[238] * xx[244]) * xx[80];

  pm_math_quatXform(xx + 300, xx + 315, xx + 328);

  xx[120] = xx[2] * xx[837];

  xx[166] = sin(xx[120]);

  xx[238] = xx[62] * xx[166];

  xx[246] = cos(xx[120]);

  xx[120] = xx[62] * xx[246];

  xx[62] = xx[238] - xx[120];

  xx[255] = xx[56] * xx[246];

  xx[246] = xx[56] * xx[166];

  xx[56] = xx[255] + xx[246];

  xx[166] = - xx[56];

  xx[261] = xx[246] - xx[255];

  xx[246] = xx[238] + xx[120];

  xx[120] = - xx[246];

  xx[300] = xx[62];

  xx[301] = xx[166];

  xx[302] = xx[261];

  xx[303] = xx[120];

  pm_math_quatCompose(xx + 140, xx + 300, xx + 331);

  pm_math_quatCompose(xx + 68, xx + 331, xx + 335);

  pm_math_quatCompose(xx + 42, xx + 335, xx + 339);

  pm_math_quatCompose(xx + 31, xx + 339, xx + 343);

  xx[315] = xx[80] * (xx[340] * xx[342] - xx[339] * xx[341]);

  xx[316] = (xx[339] * xx[340] + xx[341] * xx[342]) * xx[80];

  xx[317] = xx[22] - (xx[340] * xx[340] + xx[341] * xx[341]) * xx[80];

  pm_math_cross3(xx + 315, xx + 84, xx + 347);

  pm_math_quatXform(xx + 343, xx + 347, xx + 315);

  pm_math_quatXform(xx + 300, xx + 324, xx + 343);

  xx[238] = xx[243] - xx[343];

  xx[243] = xx[262] - xx[345];

  xx[324] = xx[238];

  xx[325] = - xx[344];

  xx[326] = xx[243];

  pm_math_quatXform(xx + 140, xx + 324, xx + 345);

  xx[255] = xx[345] - xx[104];

  xx[262] = xx[346] + xx[96];

  xx[305] = xx[347] - xx[107];

  xx[324] = xx[255];

  xx[325] = xx[262];

  xx[326] = xx[305];

  pm_math_quatXform(xx + 68, xx + 324, xx + 345);

  xx[306] = xx[345] + xx[105];

  xx[311] = xx[346] + xx[118];

  xx[313] = xx[347] + xx[121];

  xx[345] = xx[306];

  xx[346] = xx[311];

  xx[347] = xx[313];

  pm_math_quatXform(xx + 42, xx + 345, xx + 348);

  xx[343] = xx[349] + xx[148];

  xx[349] = xx[348] + xx[147];

  xx[348] = xx[343] * xx[19] - xx[349] * xx[15];

  xx[350] = xx[80] * xx[19] * xx[348] - (xx[343] - xx[145]) - xx[135];

  xx[351] = xx[349] + xx[80] * xx[15] * xx[348] + xx[152] - xx[131];

  xx[348] = xx[26] * xx[351];

  xx[352] = xx[26] * xx[350];

  xx[353] = xx[6] * xx[351] - xx[350] * xx[14];

  xx[354] = - xx[348];

  xx[355] = xx[352];

  xx[356] = xx[353];

  pm_math_cross3(xx + 149, xx + 354, xx + 357);

  pm_math_quatCompose(xx + 170, xx + 335, xx + 360);

  xx[354] = xx[4] * xx[338];

  xx[355] = xx[4] * xx[336] + xx[337];

  xx[364] = xx[354];

  xx[365] = xx[338];

  xx[366] = - xx[355];

  pm_math_cross3(xx + 336, xx + 364, xx + 367);

  xx[356] = xx[335] * xx[338];

  xx[364] = xx[22] + (xx[367] - xx[335] * xx[354]) * xx[80];

  xx[365] = xx[80] * (xx[368] - xx[356]) - xx[4];

  xx[366] = xx[80] * (xx[369] + xx[335] * xx[355]);

  pm_math_cross3(xx + 364, xx + 84, xx + 367);

  pm_math_quatXform(xx + 360, xx + 367, xx + 364);

  xx[355] = - (xx[313] * xx[4]);

  xx[367] = xx[355];

  xx[368] = - xx[313];

  xx[369] = xx[311] + xx[306] * xx[4];

  pm_math_quatXform(xx + 42, xx + 367, xx + 370);

  xx[367] = xx[370] + xx[183];

  xx[368] = xx[371] + xx[184];

  xx[369] = xx[372] + xx[185];

  pm_math_quatXform(xx + 161, xx + 367, xx + 370);

  xx[367] = xx[336] - xx[4] * xx[337];

  xx[373] = - xx[338];

  xx[374] = xx[354];

  xx[375] = xx[367];

  pm_math_cross3(xx + 336, xx + 373, xx + 376);

  xx[373] = xx[4] + (xx[356] + xx[376]) * xx[80];

  xx[374] = xx[22] + xx[80] * (xx[377] - xx[4] * xx[356]);

  xx[375] = xx[80] * (xx[378] - xx[335] * xx[367]);

  pm_math_cross3(xx + 373, xx + 84, xx + 367);

  pm_math_quatXform(xx + 360, xx + 367, xx + 373);

  xx[367] = xx[313];

  xx[368] = xx[355];

  xx[369] = xx[311] * xx[4] - xx[306];

  pm_math_quatXform(xx + 42, xx + 367, xx + 354);

  xx[367] = xx[354] + xx[197];

  xx[368] = xx[355] + xx[198];

  xx[369] = xx[356] + xx[199];

  pm_math_quatXform(xx + 161, xx + 367, xx + 354);

  xx[367] = xx[80] * (xx[336] * xx[338] - xx[335] * xx[337]);

  xx[368] = (xx[335] * xx[336] + xx[337] * xx[338]) * xx[80];

  xx[369] = xx[22] - (xx[336] * xx[336] + xx[337] * xx[337]) * xx[80];

  pm_math_cross3(xx + 367, xx + 84, xx + 376);

  pm_math_quatXform(xx + 360, xx + 376, xx + 367);

  xx[313] = xx[306] * xx[38];

  xx[360] = xx[311] * xx[38];

  xx[361] = xx[306] * xx[29] + xx[311] * xx[36];

  xx[376] = xx[313];

  xx[377] = xx[360];

  xx[378] = - xx[361];

  pm_math_cross3(xx + 179, xx + 376, xx + 380);

  xx[376] = xx[80] * (xx[380] + xx[313] * xx[28]) + xx[37] - xx[311] - xx[119];

  xx[377] = xx[306] + xx[80] * (xx[381] + xx[360] * xx[28]) + xx[23] + xx[117];

  xx[378] = (xx[382] - xx[28] * xx[361]) * xx[80] + xx[27];

  pm_math_quatXform(xx + 161, xx + 376, xx + 360);

  pm_math_quatCompose(xx + 212, xx + 331, xx + 380);

  xx[306] = xx[333] * xx[333];

  xx[311] = xx[334] * xx[334];

  xx[313] = xx[332] * xx[333];

  xx[363] = xx[331] * xx[334];

  xx[376] = xx[331] * xx[333];

  xx[377] = xx[332] * xx[334];

  xx[384] = xx[22] - (xx[306] + xx[311]) * xx[80];

  xx[385] = xx[80] * (xx[313] - xx[363]);

  xx[386] = (xx[376] + xx[377]) * xx[80];

  pm_math_cross3(xx + 384, xx + 84, xx + 387);

  pm_math_quatXform(xx + 380, xx + 387, xx + 384);

  xx[378] = xx[262] * xx[48];

  xx[387] = xx[305] * xx[50];

  xx[388] = xx[378] + xx[387];

  xx[389] = xx[262] * xx[47];

  xx[390] = xx[305] * xx[47];

  xx[391] = - xx[388];

  xx[392] = - xx[389];

  xx[393] = - xx[390];

  pm_math_cross3(xx + 220, xx + 391, xx + 394);

  xx[391] = xx[80] * (xx[394] - xx[388] * xx[46]) + xx[195];

  xx[392] = xx[80] * (xx[395] - xx[389] * xx[46]) + xx[182] - xx[305] - xx[74];

  xx[393] = xx[262] + xx[80] * (xx[396] - xx[390] * xx[46]) + xx[192] - xx[73];

  pm_math_quatXform(xx + 170, xx + 391, xx + 388);

  xx[391] = xx[332] * xx[332];

  xx[392] = xx[333] * xx[334];

  xx[393] = xx[331] * xx[332];

  xx[394] = (xx[363] + xx[313]) * xx[80];

  xx[395] = xx[22] - (xx[311] + xx[391]) * xx[80];

  xx[396] = xx[80] * (xx[392] - xx[393]);

  pm_math_cross3(xx + 394, xx + 84, xx + 402);

  pm_math_quatXform(xx + 380, xx + 402, xx + 394);

  xx[311] = xx[255] * xx[48];

  xx[313] = xx[255] * xx[47];

  xx[363] = xx[313] - xx[387];

  xx[387] = xx[305] * xx[48];

  xx[402] = xx[311];

  xx[403] = xx[363];

  xx[404] = xx[387];

  pm_math_cross3(xx + 220, xx + 402, xx + 405);

  xx[402] = xx[305] + (xx[311] * xx[46] + xx[405]) * xx[80] + xx[175] + xx[74];

  xx[403] = (xx[46] * xx[363] + xx[406]) * xx[80] + xx[53];

  xx[404] = (xx[387] * xx[46] + xx[407]) * xx[80] + xx[64] - xx[255] - xx[72];

  pm_math_quatXform(xx + 170, xx + 402, xx + 405);

  xx[402] = xx[80] * (xx[377] - xx[376]);

  xx[403] = (xx[393] + xx[392]) * xx[80];

  xx[404] = xx[22] - (xx[391] + xx[306]) * xx[80];

  pm_math_cross3(xx + 402, xx + 84, xx + 391);

  pm_math_quatXform(xx + 380, xx + 391, xx + 402);

  xx[305] = xx[255] * xx[50];

  xx[306] = xx[262] * xx[50];

  xx[311] = xx[313] - xx[378];

  xx[376] = xx[305];

  xx[377] = xx[306];

  xx[378] = xx[311];

  pm_math_cross3(xx + 220, xx + 376, xx + 380);

  xx[376] = (xx[305] * xx[46] + xx[380]) * xx[80] + xx[41] - xx[262] + xx[73];

  xx[377] = xx[255] + (xx[306] * xx[46] + xx[381]) * xx[80] + xx[17] + xx[72];

  xx[378] = (xx[46] * xx[311] + xx[382]) * xx[80] + xx[35];

  pm_math_quatXform(xx + 170, xx + 376, xx + 380);

  pm_math_quatCompose(xx + 216, xx + 300, xx + 411);

  xx[300] = xx[166];

  xx[301] = xx[261];

  xx[302] = xx[120];

  xx[120] = xx[63] * xx[261];

  xx[166] = xx[246] * xx[57] - xx[56] * xx[63];

  xx[255] = xx[57] * xx[261];

  xx[376] = - xx[120];

  xx[377] = xx[166];

  xx[378] = xx[255];

  pm_math_cross3(xx + 300, xx + 376, xx + 391);

  xx[376] = xx[80] * (xx[391] + xx[120] * xx[62]) - xx[57];

  xx[377] = xx[80] * (xx[392] - xx[62] * xx[166]);

  xx[378] = (xx[393] - xx[255] * xx[62]) * xx[80] - xx[63];

  pm_math_cross3(xx + 376, xx + 84, xx + 391);

  pm_math_quatXform(xx + 411, xx + 391, xx + 376);

  xx[391] = - (xx[63] * xx[344]);

  xx[392] = xx[57] * xx[243] - xx[63] * xx[238];

  xx[393] = xx[57] * xx[344];

  pm_math_quatXform(xx + 140, xx + 391, xx + 415);

  xx[391] = xx[415] + xx[60];

  xx[392] = xx[416] + xx[61] - xx[67];

  xx[393] = xx[417] - xx[40];

  pm_math_quatXform(xx + 212, xx + 391, xx + 415);

  xx[120] = xx[72] * xx[414];

  xx[166] = xx[73] * xx[413] - xx[72] * xx[412];

  xx[391] = xx[120];

  xx[392] = - (xx[73] * xx[414]);

  xx[393] = xx[166];

  pm_math_cross3(xx + 412, xx + 391, xx + 418);

  xx[255] = xx[246] * xx[254];

  xx[262] = xx[246] * xx[257];

  xx[303] = xx[257] * xx[261] - xx[56] * xx[254];

  xx[391] = xx[255];

  xx[392] = xx[262];

  xx[393] = xx[303];

  pm_math_cross3(xx + 300, xx + 391, xx + 421);

  xx[305] = xx[80] * (xx[421] + xx[255] * xx[62]) - xx[257];

  xx[255] = xx[254] + (xx[262] * xx[62] + xx[422]) * xx[80];

  xx[254] = xx[62] * xx[303] + xx[423];

  xx[257] = xx[254] * xx[80];

  xx[391] = xx[305];

  xx[392] = xx[255];

  xx[393] = xx[257];

  pm_math_quatXform(xx + 216, xx + 391, xx + 421);

  xx[262] = xx[2] * xx[845];

  xx[303] = sin(xx[262]);

  xx[306] = cos(xx[262]);

  xx[262] = xx[1] * xx[303] - xx[5] * xx[306];

  xx[311] = xx[2] * xx[847];

  xx[313] = cos(xx[311]);

  xx[363] = xx[262] * xx[313];

  xx[383] = sin(xx[311]);

  xx[311] = xx[1] * xx[306] + xx[5] * xx[303];

  xx[1] = xx[383] * xx[311];

  xx[5] = xx[12] * xx[306] + xx[13] * xx[303];

  xx[387] = xx[12] * xx[303] - xx[13] * xx[306];

  xx[12] = - (xx[313] * xx[5] + xx[387] * xx[383]);

  xx[13] = xx[383] * xx[5] - xx[387] * xx[313];

  xx[303] = xx[262] * xx[383] + xx[313] * xx[311];

  xx[424] = xx[363] - xx[1];

  xx[425] = xx[12];

  xx[426] = xx[13];

  xx[427] = xx[303];

  xx[306] = xx[21] * xx[852] - xx[25] * xx[849];

  xx[391] = xx[21] * xx[851] + xx[25] * xx[850];

  xx[392] = - xx[391];

  xx[393] = xx[25] * xx[851] - xx[21] * xx[850];

  xx[397] = - xx[393];

  xx[398] = xx[21] * xx[849] + xx[25] * xx[852];

  xx[400] = - xx[398];

  xx[428] = xx[306];

  xx[429] = xx[392];

  xx[430] = xx[397];

  xx[431] = xx[400];

  pm_math_quatCompose(xx + 424, xx + 428, xx + 432);

  xx[424] = (xx[393] * xx[306] + xx[391] * xx[398]) * xx[80];

  xx[425] = xx[80] * (xx[393] * xx[398] - xx[306] * xx[391]);

  xx[426] = xx[22] - (xx[391] * xx[391] + xx[393] * xx[393]) * xx[80];

  pm_math_cross3(xx + 424, xx + 267, xx + 436);

  pm_math_quatXform(xx + 432, xx + 436, xx + 424);

  pm_math_quatXform(xx + 428, xx + 126, xx + 432);

  xx[408] = xx[433] * xx[383] - xx[313] * xx[432];

  xx[412] = xx[409] * xx[313] + xx[410] * xx[383];

  xx[413] = xx[80] * xx[412] * xx[383];

  xx[427] = xx[80] * xx[383] * xx[408] - (xx[433] + xx[413]) + xx[410];

  xx[434] = xx[262];

  xx[435] = xx[311];

  xx[436] = xx[387];

  xx[437] = xx[80] * xx[412] * xx[313];

  xx[412] = xx[432] + xx[80] * xx[313] * xx[408] - xx[437] + xx[409];

  xx[408] = xx[387] * xx[412];

  xx[438] = xx[387] * xx[427];

  xx[439] = xx[262] * xx[412] - xx[427] * xx[311];

  xx[440] = - xx[408];

  xx[441] = xx[438];

  xx[442] = xx[439];

  pm_math_cross3(xx + 434, xx + 440, xx + 447);

  xx[440] = - (xx[1] - xx[363]);

  xx[441] = xx[12];

  xx[442] = xx[13];

  xx[443] = xx[303];

  pm_math_quatCompose(xx + 440, xx + 428, xx + 450);

  pm_math_quatXform(xx + 450, xx + 280, xx + 434);

  pm_math_quatXform(xx + 428, xx + 167, xx + 459);

  pm_math_quatXform(xx + 440, xx + 459, xx + 464);

  pm_math_quatXform(xx + 450, xx + 297, xx + 459);

  pm_math_quatXform(xx + 428, xx + 176, xx + 467);

  pm_math_quatXform(xx + 440, xx + 467, xx + 470);

  xx[1] = xx[102] * xx[453];

  xx[12] = xx[102] * xx[451] + xx[123] * xx[452];

  xx[467] = - xx[1];

  xx[468] = - (xx[123] * xx[453]);

  xx[469] = xx[12];

  pm_math_cross3(xx + 451, xx + 467, xx + 474);

  xx[467] = xx[392];

  xx[468] = xx[397];

  xx[469] = xx[400];

  xx[13] = xx[117] * xx[398];

  xx[303] = xx[119] * xx[398];

  xx[363] = xx[117] * xx[391] + xx[393] * xx[119];

  xx[477] = xx[13];

  xx[478] = xx[303];

  xx[479] = - xx[363];

  pm_math_cross3(xx + 467, xx + 477, xx + 480);

  xx[467] = xx[80] * (xx[480] + xx[13] * xx[306]) - xx[119];

  xx[468] = xx[117] + (xx[303] * xx[306] + xx[481]) * xx[80];

  xx[469] = (xx[482] - xx[363] * xx[306]) * xx[80];

  pm_math_quatXform(xx + 440, xx + 467, xx + 477);

  xx[13] = xx[2] * xx[839];

  xx[303] = cos(xx[13]);

  xx[363] = xx[312] * xx[303];

  xx[392] = sin(xx[13]);

  xx[13] = xx[312] * xx[392];

  xx[397] = xx[363] + xx[13];

  xx[400] = xx[379] * xx[392];

  xx[392] = xx[379] * xx[303];

  xx[303] = xx[400] - xx[392];

  xx[440] = xx[392] + xx[400];

  xx[392] = - xx[440];

  xx[400] = xx[13] - xx[363];

  xx[441] = - xx[397];

  xx[442] = xx[303];

  xx[443] = xx[392];

  xx[444] = xx[400];

  pm_math_quatCompose(xx + 140, xx + 441, xx + 480);

  pm_math_quatCompose(xx + 68, xx + 480, xx + 484);

  pm_math_quatCompose(xx + 42, xx + 484, xx + 488);

  pm_math_quatCompose(xx + 31, xx + 488, xx + 492);

  xx[467] = xx[80] * (xx[489] * xx[491] - xx[488] * xx[490]);

  xx[468] = (xx[488] * xx[489] + xx[490] * xx[491]) * xx[80];

  xx[469] = xx[22] - (xx[489] * xx[489] + xx[490] * xx[490]) * xx[80];

  pm_math_cross3(xx + 467, xx + 84, xx + 496);

  pm_math_quatXform(xx + 492, xx + 496, xx + 467);

  pm_math_quatXform(xx + 441, xx + 456, xx + 492);

  xx[13] = xx[314] + xx[492];

  xx[314] = xx[462] - xx[494];

  xx[454] = - xx[13];

  xx[455] = - xx[493];

  xx[456] = xx[314];

  pm_math_quatXform(xx + 140, xx + 454, xx + 494);

  xx[363] = xx[494] - xx[104];

  xx[451] = xx[495] + xx[96];

  xx[452] = xx[496] - xx[107];

  xx[454] = xx[363];

  xx[455] = xx[451];

  xx[456] = xx[452];

  pm_math_quatXform(xx + 68, xx + 454, xx + 494);

  xx[457] = xx[494] + xx[105];

  xx[458] = xx[495] + xx[118];

  xx[462] = xx[496] + xx[121];

  xx[494] = xx[457];

  xx[495] = xx[458];

  xx[496] = xx[462];

  pm_math_quatXform(xx + 42, xx + 494, xx + 497);

  xx[492] = xx[498] + xx[148];

  xx[498] = xx[497] + xx[147];

  xx[497] = xx[492] * xx[19] - xx[498] * xx[15];

  xx[499] = xx[80] * xx[19] * xx[497] - (xx[492] - xx[145]) - xx[135];

  xx[500] = xx[498] + xx[80] * xx[15] * xx[497] + xx[152] - xx[131];

  xx[497] = xx[26] * xx[500];

  xx[501] = xx[26] * xx[499];

  xx[502] = xx[6] * xx[500] - xx[499] * xx[14];

  xx[503] = - xx[497];

  xx[504] = xx[501];

  xx[505] = xx[502];

  pm_math_cross3(xx + 149, xx + 503, xx + 507);

  pm_math_quatCompose(xx + 170, xx + 484, xx + 510);

  xx[503] = xx[4] * xx[487];

  xx[504] = xx[4] * xx[485] + xx[486];

  xx[514] = xx[503];

  xx[515] = xx[487];

  xx[516] = - xx[504];

  pm_math_cross3(xx + 485, xx + 514, xx + 517);

  xx[505] = xx[484] * xx[487];

  xx[514] = xx[22] + (xx[517] - xx[484] * xx[503]) * xx[80];

  xx[515] = xx[80] * (xx[518] - xx[505]) - xx[4];

  xx[516] = xx[80] * (xx[519] + xx[484] * xx[504]);

  pm_math_cross3(xx + 514, xx + 84, xx + 517);

  pm_math_quatXform(xx + 510, xx + 517, xx + 514);

  xx[504] = - (xx[462] * xx[4]);

  xx[517] = xx[504];

  xx[518] = - xx[462];

  xx[519] = xx[458] + xx[457] * xx[4];

  pm_math_quatXform(xx + 42, xx + 517, xx + 520);

  xx[517] = xx[520] + xx[183];

  xx[518] = xx[521] + xx[184];

  xx[519] = xx[522] + xx[185];

  pm_math_quatXform(xx + 161, xx + 517, xx + 520);

  xx[517] = xx[485] - xx[4] * xx[486];

  xx[523] = - xx[487];

  xx[524] = xx[503];

  xx[525] = xx[517];

  pm_math_cross3(xx + 485, xx + 523, xx + 526);

  xx[523] = xx[4] + (xx[505] + xx[526]) * xx[80];

  xx[524] = xx[22] + xx[80] * (xx[527] - xx[4] * xx[505]);

  xx[525] = xx[80] * (xx[528] - xx[484] * xx[517]);

  pm_math_cross3(xx + 523, xx + 84, xx + 517);

  pm_math_quatXform(xx + 510, xx + 517, xx + 523);

  xx[517] = xx[462];

  xx[518] = xx[504];

  xx[519] = xx[458] * xx[4] - xx[457];

  pm_math_quatXform(xx + 42, xx + 517, xx + 503);

  xx[517] = xx[503] + xx[197];

  xx[518] = xx[504] + xx[198];

  xx[519] = xx[505] + xx[199];

  pm_math_quatXform(xx + 161, xx + 517, xx + 503);

  xx[517] = xx[80] * (xx[485] * xx[487] - xx[484] * xx[486]);

  xx[518] = (xx[484] * xx[485] + xx[486] * xx[487]) * xx[80];

  xx[519] = xx[22] - (xx[485] * xx[485] + xx[486] * xx[486]) * xx[80];

  pm_math_cross3(xx + 517, xx + 84, xx + 526);

  pm_math_quatXform(xx + 510, xx + 526, xx + 517);

  xx[462] = xx[457] * xx[38];

  xx[510] = xx[458] * xx[38];

  xx[511] = xx[457] * xx[29] + xx[36] * xx[458];

  xx[526] = xx[462];

  xx[527] = xx[510];

  xx[528] = - xx[511];

  pm_math_cross3(xx + 179, xx + 526, xx + 529);

  xx[526] = xx[80] * (xx[529] + xx[462] * xx[28]) + xx[37] - xx[458] - xx[119];

  xx[527] = xx[457] + xx[80] * (xx[530] + xx[510] * xx[28]) + xx[23] + xx[117];

  xx[528] = (xx[531] - xx[28] * xx[511]) * xx[80] + xx[27];

  pm_math_quatXform(xx + 161, xx + 526, xx + 510);

  pm_math_quatCompose(xx + 212, xx + 480, xx + 526);

  xx[457] = xx[482] * xx[482];

  xx[458] = xx[483] * xx[483];

  xx[462] = xx[481] * xx[482];

  xx[513] = xx[480] * xx[483];

  xx[530] = xx[480] * xx[482];

  xx[531] = xx[481] * xx[483];

  xx[536] = xx[22] - (xx[457] + xx[458]) * xx[80];

  xx[537] = xx[80] * (xx[462] - xx[513]);

  xx[538] = (xx[530] + xx[531]) * xx[80];

  pm_math_cross3(xx + 536, xx + 84, xx + 539);

  pm_math_quatXform(xx + 526, xx + 539, xx + 536);

  xx[533] = xx[48] * xx[451];

  xx[534] = xx[50] * xx[452];

  xx[539] = xx[533] + xx[534];

  xx[540] = xx[451] * xx[47];

  xx[541] = xx[452] * xx[47];

  xx[542] = - xx[539];

  xx[543] = - xx[540];

  xx[544] = - xx[541];

  pm_math_cross3(xx + 220, xx + 542, xx + 549);

  xx[542] = xx[80] * (xx[549] - xx[539] * xx[46]) + xx[195];

  xx[543] = xx[80] * (xx[550] - xx[540] * xx[46]) + xx[182] - xx[452] - xx[74];

  xx[544] = xx[451] + xx[80] * (xx[551] - xx[541] * xx[46]) + xx[192] - xx[73];

  pm_math_quatXform(xx + 170, xx + 542, xx + 539);

  xx[542] = xx[481] * xx[481];

  xx[543] = xx[482] * xx[483];

  xx[544] = xx[480] * xx[481];

  xx[549] = (xx[513] + xx[462]) * xx[80];

  xx[550] = xx[22] - (xx[458] + xx[542]) * xx[80];

  xx[551] = xx[80] * (xx[543] - xx[544]);

  pm_math_cross3(xx + 549, xx + 84, xx + 552);

  pm_math_quatXform(xx + 526, xx + 552, xx + 549);

  xx[458] = xx[48] * xx[363];

  xx[462] = xx[363] * xx[47];

  xx[513] = xx[462] - xx[534];

  xx[534] = xx[48] * xx[452];

  xx[552] = xx[458];

  xx[553] = xx[513];

  xx[554] = xx[534];

  pm_math_cross3(xx + 220, xx + 552, xx + 555);

  xx[552] = xx[452] + (xx[458] * xx[46] + xx[555]) * xx[80] + xx[175] + xx[74];

  xx[553] = (xx[46] * xx[513] + xx[556]) * xx[80] + xx[53];

  xx[554] = (xx[534] * xx[46] + xx[557]) * xx[80] + xx[64] - xx[363] - xx[72];

  pm_math_quatXform(xx + 170, xx + 552, xx + 555);

  xx[552] = xx[80] * (xx[531] - xx[530]);

  xx[553] = (xx[544] + xx[543]) * xx[80];

  xx[554] = xx[22] - (xx[542] + xx[457]) * xx[80];

  pm_math_cross3(xx + 552, xx + 84, xx + 542);

  pm_math_quatXform(xx + 526, xx + 542, xx + 552);

  xx[452] = xx[50] * xx[363];

  xx[457] = xx[50] * xx[451];

  xx[458] = xx[462] - xx[533];

  xx[526] = xx[452];

  xx[527] = xx[457];

  xx[528] = xx[458];

  pm_math_cross3(xx + 220, xx + 526, xx + 529);

  xx[526] = (xx[452] * xx[46] + xx[529]) * xx[80] + xx[41] - xx[451] + xx[73];

  xx[527] = xx[363] + (xx[457] * xx[46] + xx[530]) * xx[80] + xx[17] + xx[72];

  xx[528] = (xx[46] * xx[458] + xx[531]) * xx[80] + xx[35];

  pm_math_quatXform(xx + 170, xx + 526, xx + 529);

  pm_math_quatCompose(xx + 216, xx + 441, xx + 542);

  xx[441] = xx[303];

  xx[442] = xx[392];

  xx[443] = xx[400];

  xx[363] = xx[440] * xx[63];

  xx[392] = xx[63] * xx[303] - xx[57] * xx[400];

  xx[444] = xx[440] * xx[57];

  xx[526] = xx[363];

  xx[527] = xx[392];

  xx[528] = - xx[444];

  pm_math_cross3(xx + 441, xx + 526, xx + 558);

  xx[526] = xx[80] * (xx[558] + xx[397] * xx[363]) - xx[57];

  xx[527] = xx[80] * (xx[559] + xx[397] * xx[392]);

  xx[528] = (xx[560] - xx[397] * xx[444]) * xx[80] - xx[63];

  pm_math_cross3(xx + 526, xx + 84, xx + 558);

  pm_math_quatXform(xx + 542, xx + 558, xx + 526);

  xx[558] = - (xx[63] * xx[493]);

  xx[559] = xx[63] * xx[13] + xx[57] * xx[314];

  xx[560] = xx[57] * xx[493];

  pm_math_quatXform(xx + 140, xx + 558, xx + 561);

  xx[558] = xx[561] + xx[60];

  xx[559] = xx[562] + xx[61] - xx[67];

  xx[560] = xx[563] - xx[40];

  pm_math_quatXform(xx + 212, xx + 558, xx + 561);

  xx[363] = xx[72] * xx[545];

  xx[392] = xx[72] * xx[543] - xx[73] * xx[544];

  xx[558] = - xx[363];

  xx[559] = xx[73] * xx[545];

  xx[560] = xx[392];

  pm_math_cross3(xx + 543, xx + 558, xx + 564);

  xx[444] = xx[327] * xx[400];

  xx[451] = xx[401] * xx[400];

  xx[452] = xx[327] * xx[303] + xx[440] * xx[401];

  xx[558] = - xx[444];

  xx[559] = xx[451];

  xx[560] = xx[452];

  pm_math_cross3(xx + 441, xx + 558, xx + 567);

  xx[457] = xx[401] + xx[80] * (xx[567] + xx[397] * xx[444]);

  xx[401] = xx[327] + (xx[568] - xx[397] * xx[451]) * xx[80];

  xx[327] = xx[569] - xx[397] * xx[452];

  xx[444] = xx[327] * xx[80];

  xx[558] = xx[457];

  xx[559] = xx[401];

  xx[560] = xx[444];

  pm_math_quatXform(xx + 216, xx + 558, xx + 567);

  xx[451] = xx[2] * xx[869];

  xx[452] = cos(xx[451]);

  xx[458] = xx[2] * xx[867];

  xx[462] = cos(xx[458]);

  xx[513] = sin(xx[458]);

  xx[458] = xx[399] * xx[462] + xx[445] * xx[513];

  xx[533] = xx[452] * xx[458];

  xx[534] = xx[399] * xx[513] - xx[445] * xx[462];

  xx[399] = sin(xx[451]);

  xx[445] = xx[534] * xx[399];

  xx[451] = xx[463] * xx[462] - xx[473] * xx[513];

  xx[543] = xx[473] * xx[462] + xx[463] * xx[513];

  xx[462] = - (xx[451] * xx[452] - xx[399] * xx[543]);

  xx[463] = xx[451] * xx[399] + xx[452] * xx[543];

  xx[473] = xx[399] * xx[458] + xx[534] * xx[452];

  xx[570] = xx[533] - xx[445];

  xx[571] = xx[462];

  xx[572] = xx[463];

  xx[573] = xx[473];

  xx[513] = xx[21] * xx[874] - xx[25] * xx[871];

  xx[544] = xx[21] * xx[873] + xx[25] * xx[872];

  xx[546] = - xx[544];

  xx[558] = xx[25] * xx[873] - xx[21] * xx[872];

  xx[559] = - xx[558];

  xx[560] = xx[21] * xx[871] + xx[25] * xx[874];

  xx[574] = - xx[560];

  xx[575] = xx[513];

  xx[576] = xx[546];

  xx[577] = xx[559];

  xx[578] = xx[574];

  pm_math_quatCompose(xx + 570, xx + 575, xx + 579);

  xx[570] = (xx[558] * xx[513] + xx[560] * xx[544]) * xx[80];

  xx[571] = xx[80] * (xx[558] * xx[560] - xx[513] * xx[544]);

  xx[572] = xx[22] - (xx[544] * xx[544] + xx[558] * xx[558]) * xx[80];

  pm_math_cross3(xx + 570, xx + 267, xx + 585);

  pm_math_quatXform(xx + 579, xx + 585, xx + 570);

  pm_math_quatXform(xx + 575, xx + 126, xx + 579);

  xx[573] = xx[580] * xx[399] - xx[452] * xx[579];

  xx[581] = xx[547] * xx[452] + xx[548] * xx[399];

  xx[582] = xx[80] * xx[581] * xx[399];

  xx[583] = xx[80] * xx[399] * xx[573] - (xx[580] - xx[582]) - xx[548];

  xx[585] = - xx[543];

  xx[586] = xx[458];

  xx[587] = xx[534];

  xx[588] = xx[585];

  xx[589] = xx[80] * xx[581] * xx[452];

  xx[581] = xx[579] + xx[80] * xx[452] * xx[573] + xx[589] - xx[547];

  xx[573] = xx[581] * xx[543];

  xx[590] = xx[583] * xx[543];

  xx[591] = xx[581] * xx[458] - xx[534] * xx[583];

  xx[592] = xx[573];

  xx[593] = - xx[590];

  xx[594] = xx[591];

  pm_math_cross3(xx + 586, xx + 592, xx + 598);

  xx[602] = - (xx[445] - xx[533]);

  xx[603] = xx[462];

  xx[604] = xx[463];

  xx[605] = xx[473];

  pm_math_quatCompose(xx + 602, xx + 575, xx + 610);

  pm_math_quatXform(xx + 610, xx + 280, xx + 586);

  pm_math_quatXform(xx + 575, xx + 167, xx + 592);

  pm_math_quatXform(xx + 602, xx + 592, xx + 606);

  pm_math_quatXform(xx + 610, xx + 297, xx + 592);

  pm_math_quatXform(xx + 575, xx + 176, xx + 614);

  pm_math_quatXform(xx + 602, xx + 614, xx + 617);

  xx[445] = xx[102] * xx[613];

  xx[462] = xx[102] * xx[611] + xx[123] * xx[612];

  xx[614] = - xx[445];

  xx[615] = - (xx[123] * xx[613]);

  xx[616] = xx[462];

  pm_math_cross3(xx + 611, xx + 614, xx + 620);

  xx[614] = xx[546];

  xx[615] = xx[559];

  xx[616] = xx[574];

  xx[463] = xx[117] * xx[560];

  xx[473] = xx[119] * xx[560];

  xx[533] = xx[117] * xx[544] + xx[558] * xx[119];

  xx[623] = xx[463];

  xx[624] = xx[473];

  xx[625] = - xx[533];

  pm_math_cross3(xx + 614, xx + 623, xx + 626);

  xx[614] = xx[80] * (xx[626] + xx[463] * xx[513]) - xx[119];

  xx[615] = xx[117] + (xx[473] * xx[513] + xx[627]) * xx[80];

  xx[616] = (xx[628] - xx[533] * xx[513]) * xx[80];

  pm_math_quatXform(xx + 602, xx + 614, xx + 623);

  xx[463] = xx[2] * xx[841];

  xx[473] = cos(xx[463]);

  xx[533] = xx[312] * xx[473];

  xx[546] = sin(xx[463]);

  xx[463] = xx[312] * xx[546];

  xx[312] = xx[533] + xx[463];

  xx[559] = xx[379] * xx[473];

  xx[473] = xx[379] * xx[546];

  xx[379] = xx[559] - xx[473];

  xx[546] = xx[559] + xx[473];

  xx[473] = xx[533] - xx[463];

  xx[602] = xx[312];

  xx[603] = xx[379];

  xx[604] = xx[546];

  xx[605] = xx[473];

  pm_math_quatCompose(xx + 140, xx + 602, xx + 626);

  pm_math_quatCompose(xx + 68, xx + 626, xx + 630);

  pm_math_quatCompose(xx + 42, xx + 630, xx + 638);

  pm_math_quatCompose(xx + 31, xx + 638, xx + 644);

  xx[614] = xx[80] * (xx[639] * xx[641] - xx[638] * xx[640]);

  xx[615] = (xx[638] * xx[639] + xx[640] * xx[641]) * xx[80];

  xx[616] = xx[22] - (xx[639] * xx[639] + xx[640] * xx[640]) * xx[80];

  pm_math_cross3(xx + 614, xx + 84, xx + 634);

  pm_math_quatXform(xx + 644, xx + 634, xx + 614);

  pm_math_quatXform(xx + 602, xx + 595, xx + 634);

  xx[463] = xx[446] + xx[634];

  xx[446] = xx[601] - xx[636];

  xx[595] = - xx[463];

  xx[596] = - xx[635];

  xx[597] = xx[446];

  pm_math_quatXform(xx + 140, xx + 595, xx + 644);

  xx[533] = xx[644] - xx[104];

  xx[559] = xx[645] + xx[96];

  xx[574] = xx[646] - xx[107];

  xx[595] = xx[533];

  xx[596] = xx[559];

  xx[597] = xx[574];

  pm_math_quatXform(xx + 68, xx + 595, xx + 644);

  xx[601] = xx[644] + xx[105];

  xx[611] = xx[645] + xx[118];

  xx[612] = xx[646] + xx[121];

  xx[644] = xx[601];

  xx[645] = xx[611];

  xx[646] = xx[612];

  pm_math_quatXform(xx + 42, xx + 644, xx + 647);

  xx[634] = xx[648] + xx[148];

  xx[636] = xx[647] + xx[147];

  xx[642] = xx[634] * xx[19] - xx[636] * xx[15];

  xx[647] = xx[80] * xx[19] * xx[642] - (xx[634] - xx[145]) - xx[135];

  xx[648] = xx[636] + xx[80] * xx[15] * xx[642] + xx[152] - xx[131];

  xx[642] = xx[26] * xx[648];

  xx[649] = xx[26] * xx[647];

  xx[650] = xx[6] * xx[648] - xx[647] * xx[14];

  xx[651] = - xx[642];

  xx[652] = xx[649];

  xx[653] = xx[650];

  pm_math_cross3(xx + 149, xx + 651, xx + 654);

  pm_math_quatCompose(xx + 170, xx + 630, xx + 657);

  xx[651] = xx[4] * xx[633];

  xx[652] = xx[4] * xx[631] + xx[632];

  xx[661] = xx[651];

  xx[662] = xx[633];

  xx[663] = - xx[652];

  pm_math_cross3(xx + 631, xx + 661, xx + 664);

  xx[653] = xx[630] * xx[633];

  xx[661] = xx[22] + (xx[664] - xx[630] * xx[651]) * xx[80];

  xx[662] = xx[80] * (xx[665] - xx[653]) - xx[4];

  xx[663] = xx[80] * (xx[666] + xx[630] * xx[652]);

  pm_math_cross3(xx + 661, xx + 84, xx + 664);

  pm_math_quatXform(xx + 657, xx + 664, xx + 661);

  xx[652] = - (xx[612] * xx[4]);

  xx[664] = xx[652];

  xx[665] = - xx[612];

  xx[666] = xx[611] + xx[601] * xx[4];

  pm_math_quatXform(xx + 42, xx + 664, xx + 667);

  xx[664] = xx[667] + xx[183];

  xx[665] = xx[668] + xx[184];

  xx[666] = xx[669] + xx[185];

  pm_math_quatXform(xx + 161, xx + 664, xx + 667);

  xx[664] = xx[631] - xx[4] * xx[632];

  xx[673] = - xx[633];

  xx[674] = xx[651];

  xx[675] = xx[664];

  pm_math_cross3(xx + 631, xx + 673, xx + 676);

  xx[673] = xx[4] + (xx[653] + xx[676]) * xx[80];

  xx[674] = xx[22] + xx[80] * (xx[677] - xx[4] * xx[653]);

  xx[675] = xx[80] * (xx[678] - xx[630] * xx[664]);

  pm_math_cross3(xx + 673, xx + 84, xx + 664);

  pm_math_quatXform(xx + 657, xx + 664, xx + 673);

  xx[664] = xx[612];

  xx[665] = xx[652];

  xx[666] = xx[611] * xx[4] - xx[601];

  pm_math_quatXform(xx + 42, xx + 664, xx + 651);

  xx[664] = xx[651] + xx[197];

  xx[665] = xx[652] + xx[198];

  xx[666] = xx[653] + xx[199];

  pm_math_quatXform(xx + 161, xx + 664, xx + 651);

  xx[664] = xx[80] * (xx[631] * xx[633] - xx[630] * xx[632]);

  xx[665] = (xx[630] * xx[631] + xx[632] * xx[633]) * xx[80];

  xx[666] = xx[22] - (xx[631] * xx[631] + xx[632] * xx[632]) * xx[80];

  pm_math_cross3(xx + 664, xx + 84, xx + 676);

  pm_math_quatXform(xx + 657, xx + 676, xx + 664);

  xx[612] = xx[601] * xx[38];

  xx[657] = xx[611] * xx[38];

  xx[658] = xx[601] * xx[29] + xx[36] * xx[611];

  xx[676] = xx[612];

  xx[677] = xx[657];

  xx[678] = - xx[658];

  pm_math_cross3(xx + 179, xx + 676, xx + 681);

  xx[676] = xx[80] * (xx[681] + xx[612] * xx[28]) + xx[37] - xx[611] - xx[119];

  xx[677] = xx[601] + xx[80] * (xx[682] + xx[657] * xx[28]) + xx[23] + xx[117];

  xx[678] = (xx[683] - xx[28] * xx[658]) * xx[80] + xx[27];

  pm_math_quatXform(xx + 161, xx + 676, xx + 657);

  pm_math_quatCompose(xx + 212, xx + 626, xx + 676);

  xx[601] = xx[628] * xx[628];

  xx[611] = xx[629] * xx[629];

  xx[612] = xx[627] * xx[628];

  xx[660] = xx[626] * xx[629];

  xx[670] = xx[626] * xx[628];

  xx[671] = xx[627] * xx[629];

  xx[681] = xx[22] - (xx[601] + xx[611]) * xx[80];

  xx[682] = xx[80] * (xx[612] - xx[660]);

  xx[683] = (xx[670] + xx[671]) * xx[80];

  pm_math_cross3(xx + 681, xx + 84, xx + 686);

  pm_math_quatXform(xx + 676, xx + 686, xx + 681);

  xx[686] = xx[48] * xx[559];

  xx[687] = xx[50] * xx[574];

  xx[688] = xx[686] + xx[687];

  xx[689] = xx[559] * xx[47];

  xx[690] = xx[574] * xx[47];

  xx[691] = - xx[688];

  xx[692] = - xx[689];

  xx[693] = - xx[690];

  pm_math_cross3(xx + 220, xx + 691, xx + 694);

  xx[691] = xx[80] * (xx[694] - xx[688] * xx[46]) + xx[195];

  xx[692] = xx[80] * (xx[695] - xx[689] * xx[46]) + xx[182] - xx[574] - xx[74];

  xx[693] = xx[559] + xx[80] * (xx[696] - xx[690] * xx[46]) + xx[192] - xx[73];

  pm_math_quatXform(xx + 170, xx + 691, xx + 688);

  xx[691] = xx[627] * xx[627];

  xx[692] = xx[628] * xx[629];

  xx[693] = xx[626] * xx[627];

  xx[694] = (xx[660] + xx[612]) * xx[80];

  xx[695] = xx[22] - (xx[611] + xx[691]) * xx[80];

  xx[696] = xx[80] * (xx[692] - xx[693]);

  pm_math_cross3(xx + 694, xx + 84, xx + 697);

  pm_math_quatXform(xx + 676, xx + 697, xx + 694);

  xx[611] = xx[48] * xx[533];

  xx[612] = xx[533] * xx[47];

  xx[660] = xx[612] - xx[687];

  xx[687] = xx[48] * xx[574];

  xx[697] = xx[611];

  xx[698] = xx[660];

  xx[699] = xx[687];

  pm_math_cross3(xx + 220, xx + 697, xx + 700);

  xx[697] = xx[574] + (xx[611] * xx[46] + xx[700]) * xx[80] + xx[175] + xx[74];

  xx[698] = (xx[46] * xx[660] + xx[701]) * xx[80] + xx[53];

  xx[699] = (xx[687] * xx[46] + xx[702]) * xx[80] + xx[64] - xx[533] - xx[72];

  pm_math_quatXform(xx + 170, xx + 697, xx + 700);

  xx[697] = xx[80] * (xx[671] - xx[670]);

  xx[698] = (xx[693] + xx[692]) * xx[80];

  xx[699] = xx[22] - (xx[691] + xx[601]) * xx[80];

  pm_math_cross3(xx + 697, xx + 84, xx + 691);

  pm_math_quatXform(xx + 676, xx + 691, xx + 697);

  xx[574] = xx[50] * xx[533];

  xx[601] = xx[50] * xx[559];

  xx[611] = xx[612] - xx[686];

  xx[676] = xx[574];

  xx[677] = xx[601];

  xx[678] = xx[611];

  pm_math_cross3(xx + 220, xx + 676, xx + 691);

  xx[676] = (xx[574] * xx[46] + xx[691]) * xx[80] + xx[41] - xx[559] + xx[73];

  xx[677] = xx[533] + (xx[601] * xx[46] + xx[692]) * xx[80] + xx[17] + xx[72];

  xx[678] = (xx[46] * xx[611] + xx[693]) * xx[80] + xx[35];

  pm_math_quatXform(xx + 170, xx + 676, xx + 691);

  pm_math_quatCompose(xx + 216, xx + 602, xx + 676);

  xx[601] = xx[379];

  xx[602] = xx[546];

  xx[603] = xx[473];

  xx[533] = xx[546] * xx[63];

  xx[559] = xx[63] * xx[379] - xx[57] * xx[473];

  xx[574] = xx[546] * xx[57];

  xx[703] = - xx[533];

  xx[704] = xx[559];

  xx[705] = xx[574];

  pm_math_cross3(xx + 601, xx + 703, xx + 706);

  xx[703] = xx[80] * (xx[706] + xx[312] * xx[533]) - xx[57];

  xx[704] = xx[80] * (xx[707] - xx[312] * xx[559]);

  xx[705] = (xx[708] - xx[312] * xx[574]) * xx[80] - xx[63];

  pm_math_cross3(xx + 703, xx + 84, xx + 706);

  pm_math_quatXform(xx + 676, xx + 706, xx + 703);

  xx[706] = - (xx[63] * xx[635]);

  xx[707] = xx[63] * xx[463] + xx[57] * xx[446];

  xx[708] = xx[57] * xx[635];

  pm_math_quatXform(xx + 140, xx + 706, xx + 709);

  xx[706] = xx[709] + xx[60];

  xx[707] = xx[710] + xx[61] - xx[67];

  xx[708] = xx[711] - xx[40];

  pm_math_quatXform(xx + 212, xx + 706, xx + 709);

  xx[533] = xx[72] * xx[679];

  xx[559] = xx[72] * xx[677] - xx[73] * xx[678];

  xx[706] = - xx[533];

  xx[707] = xx[73] * xx[679];

  xx[708] = xx[559];

  pm_math_cross3(xx + 677, xx + 706, xx + 712);

  xx[574] = xx[506] * xx[473];

  xx[604] = xx[535] * xx[473];

  xx[605] = xx[506] * xx[379] + xx[546] * xx[535];

  xx[706] = xx[574];

  xx[707] = xx[604];

  xx[708] = - xx[605];

  pm_math_cross3(xx + 601, xx + 706, xx + 715);

  xx[611] = xx[535] + xx[80] * (xx[715] + xx[312] * xx[574]);

  xx[535] = (xx[312] * xx[604] + xx[716]) * xx[80] - xx[506];

  xx[506] = xx[717] - xx[312] * xx[605];

  xx[574] = xx[506] * xx[80];

  xx[706] = xx[611];

  xx[707] = xx[535];

  xx[708] = xx[574];

  pm_math_quatXform(xx + 216, xx + 706, xx + 715);

  xx[604] = xx[2] * xx[880];

  xx[605] = cos(xx[604]);

  xx[612] = xx[2] * xx[878];

  xx[660] = cos(xx[612]);

  xx[670] = sin(xx[612]);

  xx[612] = xx[532] * xx[660] + xx[584] * xx[670];

  xx[671] = xx[605] * xx[612];

  xx[677] = xx[584] * xx[660] - xx[532] * xx[670];

  xx[532] = sin(xx[604]);

  xx[584] = xx[677] * xx[532];

  xx[604] = xx[609] * xx[670] - xx[637] * xx[660];

  xx[678] = xx[609] * xx[660] + xx[637] * xx[670];

  xx[609] = - (xx[604] * xx[605] + xx[532] * xx[678]);

  xx[637] = xx[604] * xx[532] - xx[605] * xx[678];

  xx[660] = xx[677] * xx[605] - xx[532] * xx[612];

  xx[721] = - (xx[671] + xx[584]);

  xx[722] = xx[609];

  xx[723] = xx[637];

  xx[724] = xx[660];

  xx[670] = xx[21] * xx[885] - xx[25] * xx[882];

  xx[686] = xx[21] * xx[884] + xx[25] * xx[883];

  xx[687] = - xx[686];

  xx[706] = xx[25] * xx[884] - xx[21] * xx[883];

  xx[707] = - xx[706];

  xx[708] = xx[21] * xx[882] + xx[25] * xx[885];

  xx[718] = - xx[708];

  xx[725] = xx[670];

  xx[726] = xx[687];

  xx[727] = xx[707];

  xx[728] = xx[718];

  pm_math_quatCompose(xx + 721, xx + 725, xx + 729);

  xx[721] = (xx[706] * xx[670] + xx[708] * xx[686]) * xx[80];

  xx[722] = xx[80] * (xx[706] * xx[708] - xx[670] * xx[686]);

  xx[723] = xx[22] - (xx[686] * xx[686] + xx[706] * xx[706]) * xx[80];

  pm_math_cross3(xx + 721, xx + 267, xx + 733);

  pm_math_quatXform(xx + 729, xx + 733, xx + 721);

  pm_math_quatXform(xx + 725, xx + 126, xx + 729);

  xx[719] = xx[730] * xx[532] - xx[605] * xx[729];

  xx[724] = xx[684] * xx[605] + xx[685] * xx[532];

  xx[731] = xx[80] * xx[724] * xx[532];

  xx[732] = xx[80] * xx[532] * xx[719] - (xx[730] - xx[731]) - xx[685];

  xx[733] = - xx[612];

  xx[734] = xx[733];

  xx[735] = xx[677];

  xx[736] = xx[678];

  xx[737] = xx[80] * xx[724] * xx[605];

  xx[724] = xx[729] + xx[80] * xx[605] * xx[719] + xx[737] - xx[684];

  xx[719] = xx[724] * xx[678];

  xx[739] = xx[732] * xx[678];

  xx[740] = xx[724] * xx[612] + xx[677] * xx[732];

  xx[741] = - xx[719];

  xx[742] = xx[739];

  xx[743] = - xx[740];

  pm_math_cross3(xx + 734, xx + 741, xx + 748);

  xx[741] = - (xx[584] + xx[671]);

  xx[742] = xx[609];

  xx[743] = xx[637];

  xx[744] = xx[660];

  pm_math_quatCompose(xx + 741, xx + 725, xx + 751);

  pm_math_quatXform(xx + 751, xx + 280, xx + 734);

  pm_math_quatXform(xx + 725, xx + 167, xx + 755);

  pm_math_quatXform(xx + 741, xx + 755, xx + 758);

  pm_math_quatXform(xx + 751, xx + 297, xx + 755);

  pm_math_quatXform(xx + 725, xx + 176, xx + 761);

  pm_math_quatXform(xx + 741, xx + 761, xx + 764);

  xx[584] = xx[102] * xx[754];

  xx[609] = xx[102] * xx[752] + xx[123] * xx[753];

  xx[761] = - xx[584];

  xx[762] = - (xx[123] * xx[754]);

  xx[763] = xx[609];

  pm_math_cross3(xx + 752, xx + 761, xx + 767);

  xx[761] = xx[687];

  xx[762] = xx[707];

  xx[763] = xx[718];

  xx[637] = xx[117] * xx[708];

  xx[660] = xx[119] * xx[708];

  xx[671] = xx[117] * xx[686] + xx[706] * xx[119];

  xx[770] = xx[637];

  xx[771] = xx[660];

  xx[772] = - xx[671];

  pm_math_cross3(xx + 761, xx + 770, xx + 773);

  xx[761] = xx[80] * (xx[773] + xx[637] * xx[670]) - xx[119];

  xx[762] = xx[117] + (xx[660] * xx[670] + xx[774]) * xx[80];

  xx[763] = (xx[775] - xx[671] * xx[670]) * xx[80];

  pm_math_quatXform(xx + 741, xx + 761, xx + 770);

  xx[637] = xx[2] * xx[806];

  xx[660] = cos(xx[637]);

  xx[671] = xx[2] * xx[804];

  xx[687] = cos(xx[671]);

  xx[707] = sin(xx[671]);

  xx[671] = xx[643] * xx[687] + xx[672] * xx[707];

  xx[718] = xx[660] * xx[671];

  xx[741] = xx[672] * xx[687] - xx[643] * xx[707];

  xx[643] = sin(xx[637]);

  xx[637] = xx[741] * xx[643];

  xx[672] = xx[680] * xx[687] - xx[720] * xx[707];

  xx[742] = xx[720] * xx[687] + xx[680] * xx[707];

  xx[680] = - (xx[672] * xx[660] - xx[643] * xx[742]);

  xx[687] = xx[672] * xx[643] + xx[660] * xx[742];

  xx[707] = xx[741] * xx[660] - xx[643] * xx[671];

  xx[773] = - (xx[718] + xx[637]);

  xx[774] = xx[680];

  xx[775] = xx[687];

  xx[776] = xx[707];

  xx[720] = xx[21] * xx[811] - xx[25] * xx[808];

  xx[743] = xx[21] * xx[810] + xx[25] * xx[809];

  xx[744] = - xx[743];

  xx[745] = xx[25] * xx[810] - xx[21] * xx[809];

  xx[752] = - xx[745];

  xx[753] = xx[21] * xx[808] + xx[25] * xx[811];

  xx[761] = - xx[753];

  xx[777] = xx[720];

  xx[778] = xx[744];

  xx[779] = xx[752];

  xx[780] = xx[761];

  pm_math_quatCompose(xx + 773, xx + 777, xx + 781);

  xx[773] = (xx[745] * xx[720] + xx[743] * xx[753]) * xx[80];

  xx[774] = xx[80] * (xx[745] * xx[753] - xx[743] * xx[720]);

  xx[775] = xx[22] - (xx[743] * xx[743] + xx[745] * xx[745]) * xx[80];

  pm_math_cross3(xx + 773, xx + 267, xx + 785);

  pm_math_quatXform(xx + 781, xx + 785, xx + 773);

  pm_math_quatXform(xx + 777, xx + 126, xx + 781);

  xx[762] = xx[782] * xx[643] - xx[660] * xx[781];

  xx[763] = xx[746] * xx[660] - xx[747] * xx[643];

  xx[776] = xx[80] * xx[763] * xx[643];

  xx[783] = xx[80] * xx[643] * xx[762] - (xx[782] + xx[776]) - xx[747];

  xx[784] = - xx[671];

  xx[785] = - xx[742];

  xx[786] = xx[784];

  xx[787] = xx[741];

  xx[788] = xx[785];

  xx[789] = xx[80] * xx[763] * xx[660];

  xx[763] = xx[781] + xx[80] * xx[660] * xx[762] - xx[789] + xx[746];

  xx[762] = xx[763] * xx[742];

  xx[889] = xx[783] * xx[742];

  xx[890] = xx[763] * xx[671] + xx[741] * xx[783];

  xx[891] = xx[762];

  xx[892] = - xx[889];

  xx[893] = - xx[890];

  pm_math_cross3(xx + 786, xx + 891, xx + 894);

  xx[897] = - (xx[637] + xx[718]);

  xx[898] = xx[680];

  xx[899] = xx[687];

  xx[900] = xx[707];

  pm_math_quatCompose(xx + 897, xx + 777, xx + 901);

  pm_math_quatXform(xx + 901, xx + 280, xx + 786);

  pm_math_quatXform(xx + 777, xx + 167, xx + 280);

  pm_math_quatXform(xx + 897, xx + 280, xx + 167);

  pm_math_quatXform(xx + 901, xx + 297, xx + 280);

  pm_math_quatXform(xx + 777, xx + 176, xx + 297);

  pm_math_quatXform(xx + 897, xx + 297, xx + 176);

  xx[297] = xx[102] * xx[904];

  xx[298] = xx[102] * xx[902] + xx[123] * xx[903];

  xx[891] = - xx[297];

  xx[892] = - (xx[123] * xx[904]);

  xx[893] = xx[298];

  pm_math_cross3(xx + 902, xx + 891, xx + 905);

  xx[891] = xx[744];

  xx[892] = xx[752];

  xx[893] = xx[761];

  xx[299] = xx[117] * xx[753];

  xx[637] = xx[119] * xx[753];

  xx[680] = xx[117] * xx[743] + xx[745] * xx[119];

  xx[908] = xx[299];

  xx[909] = xx[637];

  xx[910] = - xx[680];

  pm_math_cross3(xx + 891, xx + 908, xx + 911);

  xx[891] = xx[80] * (xx[911] + xx[299] * xx[720]) - xx[119];

  xx[892] = xx[117] + (xx[637] * xx[720] + xx[912]) * xx[80];

  xx[893] = (xx[913] - xx[680] * xx[720]) * xx[80];

  pm_math_quatXform(xx + 897, xx + 891, xx + 908);

  xx[299] = xx[2] * xx[843];

  xx[2] = cos(xx[299]);

  xx[637] = sin(xx[299]);

  xx[299] = xx[2] * xx[75] + xx[637] * xx[51];

  xx[680] = xx[65] * xx[2] - xx[637] * xx[66];

  xx[687] = xx[2] * xx[66] + xx[65] * xx[637];

  xx[65] = xx[2] * xx[51] - xx[637] * xx[75];

  xx[897] = xx[299];

  xx[898] = xx[680];

  xx[899] = xx[687];

  xx[900] = xx[65];

  pm_math_quatCompose(xx + 68, xx + 897, xx + 911);

  pm_math_quatCompose(xx + 42, xx + 911, xx + 915);

  pm_math_quatCompose(xx + 31, xx + 915, xx + 919);

  xx[31] = xx[80] * (xx[916] * xx[918] - xx[915] * xx[917]);

  xx[32] = (xx[915] * xx[916] + xx[917] * xx[918]) * xx[80];

  xx[33] = xx[22] - (xx[916] * xx[916] + xx[917] * xx[917]) * xx[80];

  pm_math_cross3(xx + 31, xx + 84, xx + 891);

  pm_math_quatXform(xx + 919, xx + 891, xx + 31);

  xx[34] = xx[54] * xx[637];

  xx[51] = xx[34] * xx[637];

  xx[66] = xx[738] * xx[637];

  xx[75] = xx[2] * xx[66];

  xx[707] = xx[20] - (xx[80] * (xx[51] - xx[75]) - xx[54]);

  xx[20] = xx[2] * xx[34];

  xx[34] = xx[66] * xx[637];

  xx[66] = (xx[20] + xx[34]) * xx[80] - xx[738];

  xx[891] = xx[707];

  xx[892] = - xx[66];

  xx[893] = xx[791];

  pm_math_quatXform(xx + 140, xx + 891, xx + 919);

  xx[718] = xx[919] - xx[104];

  xx[104] = xx[920] + xx[96];

  xx[96] = xx[921] - xx[107];

  xx[891] = xx[718];

  xx[892] = xx[104];

  xx[893] = xx[96];

  pm_math_quatXform(xx + 68, xx + 891, xx + 919);

  xx[107] = xx[919] + xx[105];

  xx[105] = xx[920] + xx[118];

  xx[118] = xx[921] + xx[121];

  xx[919] = xx[107];

  xx[920] = xx[105];

  xx[921] = xx[118];

  pm_math_quatXform(xx + 42, xx + 919, xx + 922);

  xx[121] = xx[923] + xx[148];

  xx[148] = xx[922] + xx[147];

  xx[147] = xx[121] * xx[19] - xx[148] * xx[15];

  xx[744] = xx[80] * xx[19] * xx[147] - (xx[121] - xx[145]) - xx[135];

  xx[752] = xx[148] + xx[80] * xx[15] * xx[147] + xx[152] - xx[131];

  xx[147] = xx[26] * xx[752];

  xx[761] = xx[26] * xx[744];

  xx[791] = xx[6] * xx[752] - xx[744] * xx[14];

  xx[922] = - xx[147];

  xx[923] = xx[761];

  xx[924] = xx[791];

  pm_math_cross3(xx + 149, xx + 922, xx + 925);

  pm_math_quatCompose(xx + 170, xx + 911, xx + 928);

  xx[149] = xx[4] * xx[914];

  xx[150] = xx[4] * xx[912] + xx[913];

  xx[922] = xx[149];

  xx[923] = xx[914];

  xx[924] = - xx[150];

  pm_math_cross3(xx + 912, xx + 922, xx + 932);

  xx[151] = xx[911] * xx[914];

  xx[922] = xx[22] + (xx[932] - xx[911] * xx[149]) * xx[80];

  xx[923] = xx[80] * (xx[933] - xx[151]) - xx[4];

  xx[924] = xx[80] * (xx[934] + xx[911] * xx[150]);

  pm_math_cross3(xx + 922, xx + 84, xx + 932);

  pm_math_quatXform(xx + 928, xx + 932, xx + 922);

  xx[150] = - (xx[118] * xx[4]);

  xx[932] = xx[150];

  xx[933] = - xx[118];

  xx[934] = xx[105] + xx[107] * xx[4];

  pm_math_quatXform(xx + 42, xx + 932, xx + 935);

  xx[932] = xx[935] + xx[183];

  xx[933] = xx[936] + xx[184];

  xx[934] = xx[937] + xx[185];

  pm_math_quatXform(xx + 161, xx + 932, xx + 183);

  xx[902] = xx[912] - xx[4] * xx[913];

  xx[932] = - xx[914];

  xx[933] = xx[149];

  xx[934] = xx[902];

  pm_math_cross3(xx + 912, xx + 932, xx + 935);

  xx[932] = xx[4] + (xx[151] + xx[935]) * xx[80];

  xx[933] = xx[22] + xx[80] * (xx[936] - xx[4] * xx[151]);

  xx[934] = xx[80] * (xx[937] - xx[911] * xx[902]);

  pm_math_cross3(xx + 932, xx + 84, xx + 935);

  pm_math_quatXform(xx + 928, xx + 935, xx + 932);

  xx[935] = xx[118];

  xx[936] = xx[150];

  xx[937] = xx[105] * xx[4] - xx[107];

  pm_math_quatXform(xx + 42, xx + 935, xx + 149);

  xx[935] = xx[149] + xx[197];

  xx[936] = xx[150] + xx[198];

  xx[937] = xx[151] + xx[199];

  pm_math_quatXform(xx + 161, xx + 935, xx + 149);

  xx[197] = xx[80] * (xx[912] * xx[914] - xx[911] * xx[913]);

  xx[198] = (xx[911] * xx[912] + xx[913] * xx[914]) * xx[80];

  xx[199] = xx[22] - (xx[912] * xx[912] + xx[913] * xx[913]) * xx[80];

  pm_math_cross3(xx + 197, xx + 84, xx + 935);

  pm_math_quatXform(xx + 928, xx + 935, xx + 197);

  xx[4] = xx[107] * xx[38];

  xx[118] = xx[105] * xx[38];

  xx[38] = xx[107] * xx[29] + xx[36] * xx[105];

  xx[928] = xx[4];

  xx[929] = xx[118];

  xx[930] = - xx[38];

  pm_math_cross3(xx + 179, xx + 928, xx + 935);

  xx[179] = xx[80] * (xx[935] + xx[4] * xx[28]) + xx[37] - xx[105] - xx[119];

  xx[180] = xx[107] + xx[80] * (xx[936] + xx[118] * xx[28]) + xx[23] + xx[117];

  xx[181] = (xx[937] - xx[28] * xx[38]) * xx[80] + xx[27];

  pm_math_quatXform(xx + 161, xx + 179, xx + 27);

  pm_math_quatCompose(xx + 212, xx + 897, xx + 161);

  xx[4] = xx[687] * xx[687];

  xx[23] = xx[65] * xx[65];

  xx[36] = xx[687] * xx[680];

  xx[37] = xx[299] * xx[65];

  xx[38] = xx[687] * xx[299];

  xx[105] = xx[680] * xx[65];

  xx[117] = xx[22] - (xx[4] + xx[23]) * xx[80];

  xx[118] = xx[80] * (xx[36] - xx[37]);

  xx[119] = (xx[38] + xx[105]) * xx[80];

  pm_math_cross3(xx + 117, xx + 84, xx + 179);

  pm_math_quatXform(xx + 161, xx + 179, xx + 117);

  xx[107] = xx[48] * xx[104];

  xx[179] = xx[50] * xx[96];

  xx[180] = xx[107] + xx[179];

  xx[181] = xx[104] * xx[47];

  xx[902] = xx[96] * xx[47];

  xx[928] = - xx[180];

  xx[929] = - xx[181];

  xx[930] = - xx[902];

  pm_math_cross3(xx + 220, xx + 928, xx + 935);

  xx[928] = xx[80] * (xx[935] - xx[180] * xx[46]) + xx[195];

  xx[929] = xx[80] * (xx[936] - xx[181] * xx[46]) + xx[182] - xx[96] - xx[74];

  xx[930] = xx[104] + xx[80] * (xx[937] - xx[902] * xx[46]) + xx[192] - xx[73];

  pm_math_quatXform(xx + 170, xx + 928, xx + 180);

  xx[192] = xx[680] * xx[680];

  xx[195] = xx[687] * xx[65];

  xx[65] = xx[299] * xx[680];

  xx[928] = (xx[37] + xx[36]) * xx[80];

  xx[929] = xx[22] - (xx[23] + xx[192]) * xx[80];

  xx[930] = xx[80] * (xx[195] - xx[65]);

  pm_math_cross3(xx + 928, xx + 84, xx + 935);

  pm_math_quatXform(xx + 161, xx + 935, xx + 928);

  xx[23] = xx[48] * xx[718];

  xx[36] = xx[718] * xx[47];

  xx[37] = xx[36] - xx[179];

  xx[47] = xx[48] * xx[96];

  xx[935] = xx[23];

  xx[936] = xx[37];

  xx[937] = xx[47];

  pm_math_cross3(xx + 220, xx + 935, xx + 938);

  xx[935] = xx[96] + (xx[23] * xx[46] + xx[938]) * xx[80] + xx[175] + xx[74];

  xx[936] = (xx[46] * xx[37] + xx[939]) * xx[80] + xx[53];

  xx[937] = (xx[47] * xx[46] + xx[940]) * xx[80] + xx[64] - xx[718] - xx[72];

  pm_math_quatXform(xx + 170, xx + 935, xx + 938);

  xx[935] = xx[80] * (xx[105] - xx[38]);

  xx[936] = (xx[65] + xx[195]) * xx[80];

  xx[937] = xx[22] - (xx[192] + xx[4]) * xx[80];

  pm_math_cross3(xx + 935, xx + 84, xx + 941);

  pm_math_quatXform(xx + 161, xx + 941, xx + 935);

  xx[4] = xx[50] * xx[718];

  xx[22] = xx[50] * xx[104];

  xx[23] = xx[36] - xx[107];

  xx[36] = xx[4];

  xx[37] = xx[22];

  xx[38] = xx[23];

  pm_math_cross3(xx + 220, xx + 36, xx + 161);

  xx[36] = (xx[4] * xx[46] + xx[161]) * xx[80] + xx[41] - xx[104] + xx[73];

  xx[37] = xx[718] + (xx[22] * xx[46] + xx[162]) * xx[80] + xx[17] + xx[72];

  xx[38] = (xx[46] * xx[23] + xx[163]) * xx[80] + xx[35];

  pm_math_quatXform(xx + 170, xx + 36, xx + 46);

  xx[4] = xx[2] * xx[216] + xx[219] * xx[637];

  xx[17] = xx[2] * xx[217] - xx[218] * xx[637];

  xx[22] = xx[2] * xx[218] + xx[217] * xx[637];

  xx[23] = xx[2] * xx[219] - xx[216] * xx[637];

  xx[35] = xx[4];

  xx[36] = xx[17];

  xx[37] = xx[22];

  xx[38] = xx[23];

  xx[41] = xx[57] * xx[637];

  xx[50] = xx[80] * xx[2] * xx[41];

  xx[53] = xx[80] * xx[41] * xx[637] - xx[57];

  xx[161] = xx[74] * xx[50] + xx[55];

  xx[162] = xx[106] + xx[74] * xx[53];

  xx[163] = xx[73] * xx[53] - xx[72] * xx[50];

  pm_math_quatXform(xx + 35, xx + 161, xx + 104);

  xx[35] = - (xx[63] * xx[66]);

  xx[36] = - (xx[63] * xx[707] + xx[30]);

  xx[37] = xx[57] * xx[66];

  pm_math_quatXform(xx + 140, xx + 35, xx + 161);

  xx[35] = xx[161] + xx[60];

  xx[36] = xx[162] + xx[61] - xx[67];

  xx[37] = xx[163] - xx[40];

  pm_math_quatXform(xx + 212, xx + 35, xx + 161);

  xx[35] = xx[17];

  xx[36] = xx[22];

  xx[37] = xx[23];

  xx[30] = xx[72] * xx[23];

  xx[38] = xx[73] * xx[23];

  xx[23] = xx[72] * xx[17] - xx[22] * xx[73];

  xx[170] = - xx[30];

  xx[171] = xx[38];

  xx[172] = xx[23];

  pm_math_cross3(xx + 35, xx + 170, xx + 212);

  xx[17] = xx[738] - xx[80] * (xx[20] + xx[34]);

  xx[20] = xx[54] + (xx[75] - xx[51]) * xx[80];

  xx[22] = xx[219] * xx[20];

  xx[34] = xx[17] * xx[219];

  xx[35] = xx[217] * xx[20] + xx[17] * xx[218];

  xx[53] = xx[22];

  xx[54] = xx[34];

  xx[55] = - xx[35];

  pm_math_cross3(xx + 217, xx + 53, xx + 170);

  xx[941] = xx[0];

  xx[942] = xx[0];

  xx[943] = xx[0];

  xx[944] = xx[0];

  xx[945] = xx[81] + xx[146] + xx[80] * (xx[158] - xx[129] * xx[24]);

  xx[946] = xx[155] + xx[186];

  xx[947] = xx[189] + xx[200];

  xx[948] = xx[203] + xx[209];

  xx[949] = xx[206] + xx[226];

  xx[950] = xx[223] + xx[232];

  xx[951] = xx[229] + xx[235];

  xx[952] = xx[251] + xx[247];

  xx[953] = xx[80] * (xx[263] - xx[3] * xx[49]) + xx[8] + xx[80] * (xx[258] -

    xx[216] * xx[77]) + xx[73];

  xx[954] = xx[0];

  xx[955] = xx[0];

  xx[956] = xx[0];

  xx[957] = xx[0];

  xx[958] = xx[0];

  xx[959] = xx[0];

  xx[960] = xx[0];

  xx[961] = xx[0];

  xx[962] = - (xx[239] + xx[279] + xx[80] * (xx[294] + xx[165] * xx[242]));

  xx[963] = - (xx[285] + xx[308]);

  xx[964] = - (xx[291] + xx[318]);

  xx[965] = - (xx[80] * (xx[321] - xx[304] * xx[87]) + xx[328] - xx[123]);

  xx[966] = xx[0];

  xx[967] = xx[0];

  xx[968] = xx[0];

  xx[969] = xx[0];

  xx[970] = xx[0];

  xx[971] = xx[0];

  xx[972] = xx[0];

  xx[973] = xx[0];

  xx[974] = xx[0];

  xx[975] = xx[0];

  xx[976] = xx[0];

  xx[977] = xx[0];

  xx[978] = xx[82] + xx[144] + (xx[153] * xx[24] + xx[159]) * xx[80];

  xx[979] = xx[156] + xx[187];

  xx[980] = xx[190] + xx[201];

  xx[981] = xx[204] + xx[210];

  xx[982] = xx[207] + xx[227];

  xx[983] = xx[224] + xx[233];

  xx[984] = xx[230] + xx[236];

  xx[985] = xx[252] + xx[248];

  xx[986] = (xx[3] * xx[111] + xx[264]) * xx[80] + xx[11] + (xx[216] * xx[78] +

    xx[259]) * xx[80] + xx[72];

  xx[987] = xx[0];

  xx[988] = xx[0];

  xx[989] = xx[0];

  xx[990] = xx[0];

  xx[991] = xx[0];

  xx[992] = xx[0];

  xx[993] = xx[0];

  xx[994] = xx[0];

  xx[995] = - (xx[240] + xx[277] + (xx[295] - xx[165] * xx[289]) * xx[80]);

  xx[996] = - (xx[286] + xx[309]);

  xx[997] = - (xx[292] + xx[319]);

  xx[998] = - ((xx[322] - xx[123] * xx[304] * xx[307]) * xx[80] + xx[329] + xx

               [102]);

  xx[999] = xx[0];

  xx[1000] = xx[0];

  xx[1001] = xx[0];

  xx[1002] = xx[0];

  xx[1003] = xx[0];

  xx[1004] = xx[0];

  xx[1005] = xx[0];

  xx[1006] = xx[0];

  xx[1007] = xx[0];

  xx[1008] = xx[0];

  xx[1009] = xx[0];

  xx[1010] = xx[0];

  xx[1011] = xx[83] + (xx[24] * xx[154] + xx[160]) * xx[80];

  xx[1012] = xx[157] + xx[188];

  xx[1013] = xx[191] + xx[202];

  xx[1014] = xx[205] + xx[211];

  xx[1015] = xx[208] + xx[228];

  xx[1016] = xx[225] + xx[234];

  xx[1017] = xx[231] + xx[237];

  xx[1018] = xx[253] + xx[249];

  xx[1019] = (xx[3] * xx[18] + xx[265]) * xx[80] + (xx[216] * xx[79] + xx[260]) *

    xx[80];

  xx[1020] = xx[0];

  xx[1021] = xx[0];

  xx[1022] = xx[0];

  xx[1023] = xx[0];

  xx[1024] = xx[0];

  xx[1025] = xx[0];

  xx[1026] = xx[0];

  xx[1027] = xx[0];

  xx[1028] = - (xx[241] + (xx[296] - xx[165] * xx[290]) * xx[80]);

  xx[1029] = - (xx[287] + xx[310]);

  xx[1030] = - (xx[293] + xx[320]);

  xx[1031] = - ((xx[304] * xx[115] + xx[323]) * xx[80] + xx[330]);

  xx[1032] = xx[0];

  xx[1033] = xx[0];

  xx[1034] = xx[0];

  xx[1035] = xx[0];

  xx[1036] = xx[0];

  xx[1037] = xx[0];

  xx[1038] = xx[0];

  xx[1039] = xx[0];

  xx[1040] = xx[0];

  xx[1041] = xx[0];

  xx[1042] = xx[0];

  xx[1043] = xx[0];

  xx[1044] = xx[315] + xx[350] + xx[80] * (xx[357] - xx[348] * xx[24]);

  xx[1045] = xx[364] + xx[370];

  xx[1046] = xx[373] + xx[354];

  xx[1047] = xx[367] + xx[360];

  xx[1048] = xx[384] + xx[388];

  xx[1049] = xx[394] + xx[405];

  xx[1050] = xx[402] + xx[380];

  xx[1051] = xx[376] + xx[415];

  xx[1052] = xx[0];

  xx[1053] = xx[80] * (xx[418] + xx[411] * xx[120]) + xx[421] - xx[73];

  xx[1054] = xx[0];

  xx[1055] = xx[0];

  xx[1056] = xx[0];

  xx[1057] = - (xx[424] + xx[427] + xx[80] * (xx[447] - xx[408] * xx[5]));

  xx[1058] = - (xx[434] + xx[464]);

  xx[1059] = - (xx[459] + xx[470]);

  xx[1060] = - (xx[80] * (xx[474] - xx[450] * xx[1]) + xx[477] - xx[123]);

  xx[1061] = xx[0];

  xx[1062] = xx[0];

  xx[1063] = xx[0];

  xx[1064] = xx[0];

  xx[1065] = xx[0];

  xx[1066] = xx[0];

  xx[1067] = xx[0];

  xx[1068] = xx[0];

  xx[1069] = xx[0];

  xx[1070] = xx[0];

  xx[1071] = xx[0];

  xx[1072] = xx[0];

  xx[1073] = xx[0];

  xx[1074] = xx[0];

  xx[1075] = xx[0];

  xx[1076] = xx[0];

  xx[1077] = xx[316] + xx[351] + (xx[352] * xx[24] + xx[358]) * xx[80];

  xx[1078] = xx[365] + xx[371];

  xx[1079] = xx[374] + xx[355];

  xx[1080] = xx[368] + xx[361];

  xx[1081] = xx[385] + xx[389];

  xx[1082] = xx[395] + xx[406];

  xx[1083] = xx[403] + xx[381];

  xx[1084] = xx[377] + xx[416];

  xx[1085] = xx[0];

  xx[1086] = (xx[419] - xx[73] * xx[411] * xx[414]) * xx[80] + xx[422] - xx[72];

  xx[1087] = xx[0];

  xx[1088] = xx[0];

  xx[1089] = xx[0];

  xx[1090] = - (xx[425] + xx[412] + (xx[438] * xx[5] + xx[448]) * xx[80]);

  xx[1091] = - (xx[435] + xx[465]);

  xx[1092] = - (xx[460] + xx[471]);

  xx[1093] = - ((xx[475] - xx[123] * xx[450] * xx[453]) * xx[80] + xx[478] + xx

                [102]);

  xx[1094] = xx[0];

  xx[1095] = xx[0];

  xx[1096] = xx[0];

  xx[1097] = xx[0];

  xx[1098] = xx[0];

  xx[1099] = xx[0];

  xx[1100] = xx[0];

  xx[1101] = xx[0];

  xx[1102] = xx[0];

  xx[1103] = xx[0];

  xx[1104] = xx[0];

  xx[1105] = xx[0];

  xx[1106] = xx[0];

  xx[1107] = xx[0];

  xx[1108] = xx[0];

  xx[1109] = xx[0];

  xx[1110] = xx[317] + (xx[24] * xx[353] + xx[359]) * xx[80];

  xx[1111] = xx[366] + xx[372];

  xx[1112] = xx[375] + xx[356];

  xx[1113] = xx[369] + xx[362];

  xx[1114] = xx[386] + xx[390];

  xx[1115] = xx[396] + xx[407];

  xx[1116] = xx[404] + xx[382];

  xx[1117] = xx[378] + xx[417];

  xx[1118] = xx[0];

  xx[1119] = (xx[411] * xx[166] + xx[420]) * xx[80] + xx[423];

  xx[1120] = xx[0];

  xx[1121] = xx[0];

  xx[1122] = xx[0];

  xx[1123] = - (xx[426] + (xx[5] * xx[439] + xx[449]) * xx[80]);

  xx[1124] = - (xx[436] + xx[466]);

  xx[1125] = - (xx[461] + xx[472]);

  xx[1126] = - ((xx[450] * xx[12] + xx[476]) * xx[80] + xx[479]);

  xx[1127] = xx[0];

  xx[1128] = xx[0];

  xx[1129] = xx[0];

  xx[1130] = xx[0];

  xx[1131] = xx[0];

  xx[1132] = xx[0];

  xx[1133] = xx[0];

  xx[1134] = xx[0];

  xx[1135] = xx[0];

  xx[1136] = xx[0];

  xx[1137] = xx[0];

  xx[1138] = xx[0];

  xx[1139] = xx[0];

  xx[1140] = xx[0];

  xx[1141] = xx[0];

  xx[1142] = xx[0];

  xx[1143] = xx[467] + xx[499] + xx[80] * (xx[507] - xx[497] * xx[24]);

  xx[1144] = xx[514] + xx[520];

  xx[1145] = xx[523] + xx[503];

  xx[1146] = xx[517] + xx[510];

  xx[1147] = xx[536] + xx[539];

  xx[1148] = xx[549] + xx[555];

  xx[1149] = xx[552] + xx[529];

  xx[1150] = xx[526] + xx[561];

  xx[1151] = xx[0];

  xx[1152] = xx[0];

  xx[1153] = xx[80] * (xx[564] - xx[542] * xx[363]) + xx[567] + xx[73];

  xx[1154] = xx[0];

  xx[1155] = xx[0];

  xx[1156] = xx[0];

  xx[1157] = xx[0];

  xx[1158] = xx[0];

  xx[1159] = xx[0];

  xx[1160] = xx[0];

  xx[1161] = xx[0];

  xx[1162] = xx[0];

  xx[1163] = xx[0];

  xx[1164] = - (xx[570] + xx[583] + xx[80] * (xx[598] + xx[451] * xx[573]));

  xx[1165] = - (xx[586] + xx[606]);

  xx[1166] = - (xx[592] + xx[617]);

  xx[1167] = - (xx[80] * (xx[620] - xx[610] * xx[445]) + xx[623] - xx[123]);

  xx[1168] = xx[0];

  xx[1169] = xx[0];

  xx[1170] = xx[0];

  xx[1171] = xx[0];

  xx[1172] = xx[0];

  xx[1173] = xx[0];

  xx[1174] = xx[0];

  xx[1175] = xx[0];

  xx[1176] = xx[468] + xx[500] + (xx[501] * xx[24] + xx[508]) * xx[80];

  xx[1177] = xx[515] + xx[521];

  xx[1178] = xx[524] + xx[504];

  xx[1179] = xx[518] + xx[511];

  xx[1180] = xx[537] + xx[540];

  xx[1181] = xx[550] + xx[556];

  xx[1182] = xx[553] + xx[530];

  xx[1183] = xx[527] + xx[562];

  xx[1184] = xx[0];

  xx[1185] = xx[0];

  xx[1186] = (xx[73] * xx[542] * xx[545] + xx[565]) * xx[80] + xx[568] + xx[72];

  xx[1187] = xx[0];

  xx[1188] = xx[0];

  xx[1189] = xx[0];

  xx[1190] = xx[0];

  xx[1191] = xx[0];

  xx[1192] = xx[0];

  xx[1193] = xx[0];

  xx[1194] = xx[0];

  xx[1195] = xx[0];

  xx[1196] = xx[0];

  xx[1197] = - (xx[571] + xx[581] + (xx[599] - xx[451] * xx[590]) * xx[80]);

  xx[1198] = - (xx[587] + xx[607]);

  xx[1199] = - (xx[593] + xx[618]);

  xx[1200] = - ((xx[621] - xx[123] * xx[610] * xx[613]) * xx[80] + xx[624] + xx

                [102]);

  xx[1201] = xx[0];

  xx[1202] = xx[0];

  xx[1203] = xx[0];

  xx[1204] = xx[0];

  xx[1205] = xx[0];

  xx[1206] = xx[0];

  xx[1207] = xx[0];

  xx[1208] = xx[0];

  xx[1209] = xx[469] + (xx[24] * xx[502] + xx[509]) * xx[80];

  xx[1210] = xx[516] + xx[522];

  xx[1211] = xx[525] + xx[505];

  xx[1212] = xx[519] + xx[512];

  xx[1213] = xx[538] + xx[541];

  xx[1214] = xx[551] + xx[557];

  xx[1215] = xx[554] + xx[531];

  xx[1216] = xx[528] + xx[563];

  xx[1217] = xx[0];

  xx[1218] = xx[0];

  xx[1219] = (xx[542] * xx[392] + xx[566]) * xx[80] + xx[569];

  xx[1220] = xx[0];

  xx[1221] = xx[0];

  xx[1222] = xx[0];

  xx[1223] = xx[0];

  xx[1224] = xx[0];

  xx[1225] = xx[0];

  xx[1226] = xx[0];

  xx[1227] = xx[0];

  xx[1228] = xx[0];

  xx[1229] = xx[0];

  xx[1230] = - (xx[572] + (xx[451] * xx[591] + xx[600]) * xx[80]);

  xx[1231] = - (xx[588] + xx[608]);

  xx[1232] = - (xx[594] + xx[619]);

  xx[1233] = - ((xx[610] * xx[462] + xx[622]) * xx[80] + xx[625]);

  xx[1234] = xx[0];

  xx[1235] = xx[0];

  xx[1236] = xx[0];

  xx[1237] = xx[0];

  xx[1238] = xx[0];

  xx[1239] = xx[0];

  xx[1240] = xx[0];

  xx[1241] = xx[0];

  xx[1242] = xx[614] + xx[647] + xx[80] * (xx[654] - xx[642] * xx[24]);

  xx[1243] = xx[661] + xx[667];

  xx[1244] = xx[673] + xx[651];

  xx[1245] = xx[664] + xx[657];

  xx[1246] = xx[681] + xx[688];

  xx[1247] = xx[694] + xx[700];

  xx[1248] = xx[697] + xx[691];

  xx[1249] = xx[703] + xx[709];

  xx[1250] = xx[0];

  xx[1251] = xx[0];

  xx[1252] = xx[0];

  xx[1253] = xx[80] * (xx[712] - xx[676] * xx[533]) + xx[715] + xx[73];

  xx[1254] = xx[0];

  xx[1255] = xx[0];

  xx[1256] = xx[0];

  xx[1257] = xx[0];

  xx[1258] = xx[0];

  xx[1259] = xx[0];

  xx[1260] = xx[0];

  xx[1261] = xx[0];

  xx[1262] = xx[0];

  xx[1263] = xx[0];

  xx[1264] = xx[0];

  xx[1265] = xx[0];

  xx[1266] = xx[0];

  xx[1267] = - (xx[721] + xx[732] + xx[80] * (xx[748] - xx[604] * xx[719]));

  xx[1268] = - (xx[734] + xx[758]);

  xx[1269] = - (xx[755] + xx[764]);

  xx[1270] = - (xx[80] * (xx[767] - xx[751] * xx[584]) + xx[770] - xx[123]);

  xx[1271] = xx[0];

  xx[1272] = xx[0];

  xx[1273] = xx[0];

  xx[1274] = xx[0];

  xx[1275] = xx[615] + xx[648] + (xx[649] * xx[24] + xx[655]) * xx[80];

  xx[1276] = xx[662] + xx[668];

  xx[1277] = xx[674] + xx[652];

  xx[1278] = xx[665] + xx[658];

  xx[1279] = xx[682] + xx[689];

  xx[1280] = xx[695] + xx[701];

  xx[1281] = xx[698] + xx[692];

  xx[1282] = xx[704] + xx[710];

  xx[1283] = xx[0];

  xx[1284] = xx[0];

  xx[1285] = xx[0];

  xx[1286] = (xx[73] * xx[676] * xx[679] + xx[713]) * xx[80] + xx[716] + xx[72];

  xx[1287] = xx[0];

  xx[1288] = xx[0];

  xx[1289] = xx[0];

  xx[1290] = xx[0];

  xx[1291] = xx[0];

  xx[1292] = xx[0];

  xx[1293] = xx[0];

  xx[1294] = xx[0];

  xx[1295] = xx[0];

  xx[1296] = xx[0];

  xx[1297] = xx[0];

  xx[1298] = xx[0];

  xx[1299] = xx[0];

  xx[1300] = - (xx[722] + xx[724] + (xx[604] * xx[739] + xx[749]) * xx[80]);

  xx[1301] = - (xx[735] + xx[759]);

  xx[1302] = - (xx[756] + xx[765]);

  xx[1303] = - ((xx[768] - xx[123] * xx[751] * xx[754]) * xx[80] + xx[771] + xx

                [102]);

  xx[1304] = xx[0];

  xx[1305] = xx[0];

  xx[1306] = xx[0];

  xx[1307] = xx[0];

  xx[1308] = xx[616] + (xx[24] * xx[650] + xx[656]) * xx[80];

  xx[1309] = xx[663] + xx[669];

  xx[1310] = xx[675] + xx[653];

  xx[1311] = xx[666] + xx[659];

  xx[1312] = xx[683] + xx[690];

  xx[1313] = xx[696] + xx[702];

  xx[1314] = xx[699] + xx[693];

  xx[1315] = xx[705] + xx[711];

  xx[1316] = xx[0];

  xx[1317] = xx[0];

  xx[1318] = xx[0];

  xx[1319] = (xx[676] * xx[559] + xx[714]) * xx[80] + xx[717];

  xx[1320] = xx[0];

  xx[1321] = xx[0];

  xx[1322] = xx[0];

  xx[1323] = xx[0];

  xx[1324] = xx[0];

  xx[1325] = xx[0];

  xx[1326] = xx[0];

  xx[1327] = xx[0];

  xx[1328] = xx[0];

  xx[1329] = xx[0];

  xx[1330] = xx[0];

  xx[1331] = xx[0];

  xx[1332] = xx[0];

  xx[1333] = - (xx[723] + (xx[750] - xx[604] * xx[740]) * xx[80]);

  xx[1334] = - (xx[736] + xx[760]);

  xx[1335] = - (xx[757] + xx[766]);

  xx[1336] = - ((xx[751] * xx[609] + xx[769]) * xx[80] + xx[772]);

  xx[1337] = - (xx[773] + xx[783] + xx[80] * (xx[894] + xx[672] * xx[762]));

  xx[1338] = - (xx[786] + xx[167]);

  xx[1339] = - (xx[280] + xx[176]);

  xx[1340] = - (xx[80] * (xx[905] - xx[901] * xx[297]) + xx[908] - xx[123]);

  xx[1341] = xx[31] + xx[744] + xx[80] * (xx[925] - xx[147] * xx[24]);

  xx[1342] = xx[922] + xx[183];

  xx[1343] = xx[932] + xx[149];

  xx[1344] = xx[197] + xx[27];

  xx[1345] = xx[117] + xx[180];

  xx[1346] = xx[928] + xx[938];

  xx[1347] = xx[935] + xx[46];

  xx[1348] = xx[104] + xx[161];

  xx[1349] = xx[0];

  xx[1350] = xx[0];

  xx[1351] = xx[0];

  xx[1352] = xx[0];

  xx[1353] = xx[80] * (xx[212] - xx[4] * xx[30]) + xx[17] + xx[80] * (xx[170] +

    xx[216] * xx[22]) + xx[73];

  xx[1354] = xx[0];

  xx[1355] = xx[0];

  xx[1356] = xx[0];

  xx[1357] = xx[0];

  xx[1358] = xx[0];

  xx[1359] = xx[0];

  xx[1360] = xx[0];

  xx[1361] = xx[0];

  xx[1362] = xx[0];

  xx[1363] = xx[0];

  xx[1364] = xx[0];

  xx[1365] = xx[0];

  xx[1366] = xx[0];

  xx[1367] = xx[0];

  xx[1368] = xx[0];

  xx[1369] = xx[0];

  xx[1370] = - (xx[774] + xx[763] + (xx[895] - xx[672] * xx[889]) * xx[80]);

  xx[1371] = - (xx[787] + xx[168]);

  xx[1372] = - (xx[281] + xx[177]);

  xx[1373] = - ((xx[906] - xx[123] * xx[901] * xx[904]) * xx[80] + xx[909] + xx

                [102]);

  xx[1374] = xx[32] + xx[752] + (xx[761] * xx[24] + xx[926]) * xx[80];

  xx[1375] = xx[923] + xx[184];

  xx[1376] = xx[933] + xx[150];

  xx[1377] = xx[198] + xx[28];

  xx[1378] = xx[118] + xx[181];

  xx[1379] = xx[929] + xx[939];

  xx[1380] = xx[936] + xx[47];

  xx[1381] = xx[105] + xx[162];

  xx[1382] = xx[0];

  xx[1383] = xx[0];

  xx[1384] = xx[0];

  xx[1385] = xx[0];

  xx[1386] = (xx[4] * xx[38] + xx[213]) * xx[80] - xx[20] + (xx[216] * xx[34] +

    xx[171]) * xx[80] + xx[72];

  xx[1387] = xx[0];

  xx[1388] = xx[0];

  xx[1389] = xx[0];

  xx[1390] = xx[0];

  xx[1391] = xx[0];

  xx[1392] = xx[0];

  xx[1393] = xx[0];

  xx[1394] = xx[0];

  xx[1395] = xx[0];

  xx[1396] = xx[0];

  xx[1397] = xx[0];

  xx[1398] = xx[0];

  xx[1399] = xx[0];

  xx[1400] = xx[0];

  xx[1401] = xx[0];

  xx[1402] = xx[0];

  xx[1403] = - (xx[775] + (xx[896] - xx[672] * xx[890]) * xx[80]);

  xx[1404] = - (xx[788] + xx[169]);

  xx[1405] = - (xx[282] + xx[178]);

  xx[1406] = - ((xx[901] * xx[298] + xx[907]) * xx[80] + xx[910]);

  xx[1407] = xx[33] + (xx[24] * xx[791] + xx[927]) * xx[80];

  xx[1408] = xx[924] + xx[185];

  xx[1409] = xx[934] + xx[151];

  xx[1410] = xx[199] + xx[29];

  xx[1411] = xx[119] + xx[182];

  xx[1412] = xx[930] + xx[940];

  xx[1413] = xx[937] + xx[48];

  xx[1414] = xx[106] + xx[163];

  xx[1415] = xx[0];

  xx[1416] = xx[0];

  xx[1417] = xx[0];

  xx[1418] = xx[0];

  xx[1419] = (xx[4] * xx[23] + xx[214]) * xx[80] + (xx[172] - xx[216] * xx[35]) *

    xx[80];

  xx[1420] = xx[0];

  xx[1421] = xx[0];

  xx[1422] = xx[0];

  xx[1423] = xx[0];

  xx[1424] = xx[0];

  xx[1425] = xx[0];

  xx[1426] = xx[0];

  xx[1427] = xx[0];

  xx[1428] = xx[0];

  xx[1429] = xx[0];

  xx[1430] = xx[0];

  xx[1431] = xx[0];

  xx[1432] = xx[0];

  xx[1433] = xx[0];

  xx[1434] = xx[0];

  xx[1435] = xx[0];

  xx[27] = xx[165];

  xx[28] = xx[283];

  xx[29] = xx[174];

  xx[30] = xx[284];

  xx[0] = xx[250] * xx[122] - xx[89] * xx[245];

  xx[1] = xx[122] * xx[256] + xx[89] * xx[244];

  xx[3] = xx[122] * xx[244] - xx[89] * xx[256];

  xx[4] = xx[250] * xx[89] + xx[122] * xx[245];

  xx[31] = xx[0];

  xx[32] = - xx[1];

  xx[33] = xx[3];

  xx[34] = xx[4];

  pm_math_quatCompose(xx + 27, xx + 31, xx + 35);

  xx[12] = xx[3] * xx[857];

  xx[18] = xx[857] * xx[1];

  xx[22] = xx[80] * (xx[0] * xx[12] + xx[18] * xx[4]);

  xx[23] = xx[250] * xx[859];

  xx[31] = xx[859] * xx[245];

  xx[32] = xx[21] * xx[864];

  xx[33] = xx[21] * xx[865];

  xx[34] = xx[864] - (xx[21] * xx[32] - xx[25] * xx[33]) * xx[80];

  xx[41] = xx[865] - xx[80] * (xx[25] * xx[32] + xx[21] * xx[33]);

  xx[32] = (xx[12] * xx[4] - xx[0] * xx[18]) * xx[80];

  xx[0] = (xx[18] * xx[1] + xx[3] * xx[12]) * xx[80] - xx[857];

  xx[46] = xx[22] + (xx[23] * xx[244] + xx[31] * xx[256]) * xx[80] + xx[34];

  xx[47] = xx[80] * (xx[23] * xx[256] - xx[31] * xx[244]) + xx[41] - xx[32];

  xx[48] = xx[0] + xx[859] - (xx[31] * xx[245] + xx[250] * xx[23]) * xx[80] +

    xx[866];

  pm_math_cross3(xx + 46, xx + 267, xx + 49);

  pm_math_quatXform(xx + 35, xx + 49, xx + 46);

  xx[1] = xx[10] * xx[90];

  xx[3] = xx[10] * xx[193];

  xx[4] = xx[80] * xx[857] * (xx[174] * xx[1] - xx[165] * xx[3]);

  xx[12] = xx[266] - xx[278];

  xx[49] = xx[34];

  xx[50] = xx[41];

  xx[51] = xx[866];

  pm_math_cross3(xx + 49, xx + 126, xx + 53);

  pm_math_quatXform(xx + 271, xx + 53, xx + 49);

  xx[18] = xx[49] - xx[859] * xx[276];

  xx[23] = xx[50] + xx[859] * xx[275];

  xx[31] = xx[23] * xx[89] + xx[122] * xx[18];

  xx[33] = xx[266] * xx[89] + xx[270] * xx[122];

  xx[34] = xx[89] * xx[276] + xx[275] * xx[122];

  xx[41] = (xx[276] + xx[80] * xx[33] * xx[89] - xx[80] * xx[34] * xx[89] - xx

            [266]) * xx[857];

  xx[53] = xx[270] + xx[288];

  xx[54] = (xx[275] + xx[80] * xx[33] * xx[122] - xx[80] * xx[34] * xx[122] +

            xx[59]) * xx[857];

  xx[72] = xx[859] * xx[12] + xx[18] - xx[80] * xx[31] * xx[122] + xx[41];

  xx[73] = xx[23] - xx[80] * xx[31] * xx[89] - xx[859] * xx[53] - xx[54];

  xx[74] = xx[51] - (xx[89] * xx[89] * xx[51] + xx[51] * xx[122] * xx[122]) *

    xx[80];

  pm_math_quatXform(xx + 27, xx + 72, xx + 49);

  xx[72] = xx[24];

  xx[73] = xx[6];

  xx[74] = xx[14];

  xx[75] = xx[26];

  xx[18] = xx[138] * xx[19] - xx[15] * xx[137];

  xx[23] = xx[139] * xx[19] - xx[15] * xx[136];

  xx[31] = xx[136] * xx[19] + xx[15] * xx[139];

  xx[33] = xx[15] * xx[138] + xx[137] * xx[19];

  xx[104] = - xx[18];

  xx[105] = xx[23];

  xx[106] = xx[31];

  xx[107] = - xx[33];

  pm_math_quatCompose(xx + 72, xx + 104, xx + 117);

  xx[34] = xx[31] * xx[816];

  xx[55] = xx[816] * xx[23];

  xx[59] = xx[80] * (xx[34] * xx[18] - xx[33] * xx[55]);

  xx[64] = xx[818] * xx[137];

  xx[65] = xx[818] * xx[138];

  xx[77] = xx[21] * xx[823];

  xx[78] = xx[21] * xx[824];

  xx[81] = xx[823] - (xx[21] * xx[77] - xx[25] * xx[78]) * xx[80];

  xx[82] = xx[824] - xx[80] * (xx[25] * xx[77] + xx[21] * xx[78]);

  xx[83] = xx[825];

  pm_math_quatInverseXform(xx + 97, xx + 81, xx + 77);

  pm_math_quatInverseXform(xx + 91, xx + 830, xx + 104);

  xx[87] = xx[57] * xx[834];

  xx[96] = xx[87] * xx[76];

  xx[102] = (xx[55] * xx[18] + xx[33] * xx[34]) * xx[80];

  xx[18] = xx[816] - (xx[55] * xx[23] + xx[31] * xx[34]) * xx[80];

  xx[23] = xx[63] * xx[834];

  xx[149] = xx[59] + xx[80] * (xx[139] * xx[64] - xx[136] * xx[65]) + xx[77] +

    xx[104] + xx[80] * xx[96] * xx[76] - xx[87];

  xx[150] = (xx[136] * xx[64] + xx[139] * xx[65]) * xx[80] + xx[78] + xx[105] -

    xx[80] * xx[52] * xx[96] - xx[102];

  xx[151] = xx[18] + xx[818] - (xx[137] * xx[64] + xx[138] * xx[65]) * xx[80] +

    xx[79] + xx[106] - (xx[23] + xx[836]);

  pm_math_cross3(xx + 149, xx + 84, xx + 77);

  pm_math_quatXform(xx + 117, xx + 77, xx + 104);

  xx[31] = xx[6] * xx[10];

  xx[33] = xx[26] * xx[10];

  xx[34] = xx[80] * xx[816] * (xx[31] * xx[14] - xx[33] * xx[24]);

  xx[55] = xx[145] - xx[135];

  xx[64] = xx[818] * xx[55];

  pm_math_cross3(xx + 81, xx + 126, xx + 77);

  pm_math_quatXform(xx + 42, xx + 77, xx + 144);

  pm_math_cross3(xx + 830, xx + 112, xx + 77);

  pm_math_quatXform(xx + 68, xx + 77, xx + 149);

  xx[65] = xx[80] * xx[834] * xx[58];

  xx[77] = xx[8] * xx[836] - xx[23] * xx[88];

  xx[78] = xx[836] * xx[11] + xx[23] * xx[101] - xx[95] * xx[87];

  xx[79] = xx[87] * xx[88];

  pm_math_quatXform(xx + 140, xx + 77, xx + 153);

  pm_math_cross3(xx + 830, xx + 108, xx + 77);

  xx[58] = xx[61] - xx[67];

  xx[61] = xx[834] * xx[58];

  xx[67] = xx[80] * xx[103] * xx[834];

  xx[156] = xx[65] + xx[153] + xx[77];

  xx[157] = xx[61] + xx[154] + xx[78];

  xx[158] = xx[155] - xx[67] + xx[79];

  pm_math_quatXform(xx + 68, xx + 156, xx + 77);

  pm_math_cross3(xx + 81, xx + 132, xx + 153);

  xx[156] = xx[149] + xx[77] + xx[153];

  xx[157] = xx[150] + xx[78] + xx[154];

  xx[158] = xx[151] + xx[79] + xx[155];

  pm_math_quatXform(xx + 42, xx + 156, xx + 77);

  xx[96] = xx[144] + xx[77] - xx[124] * xx[818];

  xx[103] = xx[145] + xx[78] + xx[125] * xx[818];

  xx[107] = xx[103] * xx[15] + xx[19] * xx[96];

  xx[111] = xx[124] * xx[15] + xx[125] * xx[19];

  xx[115] = xx[131] * xx[19] - xx[135] * xx[15];

  xx[123] = xx[135] + xx[80] * xx[115] * xx[15];

  xx[129] = xx[816] * (xx[124] - xx[80] * xx[111] * xx[15] + xx[123]);

  xx[135] = xx[152] - xx[131];

  xx[131] = xx[818] * xx[135];

  xx[147] = xx[80] * xx[115] * xx[19] + xx[9];

  xx[9] = (xx[125] - xx[80] * xx[111] * xx[19] + xx[147]) * xx[816];

  xx[77] = xx[146] + xx[79];

  xx[152] = xx[64] + xx[96] - xx[80] * xx[107] * xx[19] - xx[129];

  xx[153] = xx[131] + xx[103] - xx[80] * xx[107] * xx[15] + xx[9];

  xx[154] = xx[77] - (xx[15] * xx[77] * xx[15] + xx[77] * xx[19] * xx[19]) * xx

    [80];

  pm_math_quatXform(xx + 72, xx + 152, xx + 77);

  xx[96] = xx[857] * ((xx[3] * xx[193] + xx[1] * xx[90]) * xx[80] - xx[10]);

  xx[90] = xx[816] * (xx[10] - (xx[26] * xx[33] + xx[6] * xx[31]) * xx[80]);

  xx[6] = xx[80] * (xx[165] * xx[1] + xx[174] * xx[3]) * xx[857];

  xx[1] = xx[80] * (xx[31] * xx[24] + xx[33] * xx[14]) * xx[816];

  xx[152] = xx[5];

  xx[153] = xx[262];

  xx[154] = xx[311];

  xx[155] = xx[387];

  xx[3] = xx[393] * xx[383] - xx[313] * xx[391];

  xx[14] = xx[383] * xx[398] + xx[313] * xx[306];

  xx[24] = xx[383] * xx[306] - xx[313] * xx[398];

  xx[26] = xx[393] * xx[313] + xx[383] * xx[391];

  xx[156] = xx[3];

  xx[157] = - xx[14];

  xx[158] = xx[24];

  xx[159] = xx[26];

  pm_math_quatCompose(xx + 152, xx + 156, xx + 160);

  xx[31] = xx[393] * xx[848];

  xx[33] = xx[848] * xx[391];

  xx[103] = xx[21] * xx[853];

  xx[107] = xx[21] * xx[854];

  xx[111] = xx[853] - (xx[21] * xx[103] - xx[25] * xx[107]) * xx[80];

  xx[115] = xx[846] * xx[14];

  xx[156] = xx[24] * xx[846];

  xx[157] = xx[80] * (xx[115] * xx[26] + xx[3] * xx[156]);

  xx[158] = (xx[156] * xx[26] - xx[3] * xx[115]) * xx[80];

  xx[3] = xx[854] - xx[80] * (xx[25] * xx[103] + xx[21] * xx[107]);

  xx[26] = xx[846] - (xx[115] * xx[14] + xx[24] * xx[156]) * xx[80];

  xx[164] = (xx[31] * xx[306] + xx[33] * xx[398]) * xx[80] + xx[111] - xx[157];

  xx[165] = xx[158] + xx[80] * (xx[31] * xx[398] - xx[33] * xx[306]) + xx[3];

  xx[166] = xx[26] + xx[848] - (xx[33] * xx[391] + xx[393] * xx[31]) * xx[80] +

    xx[855];

  pm_math_cross3(xx + 164, xx + 267, xx + 167);

  pm_math_quatXform(xx + 160, xx + 167, xx + 164);

  xx[14] = xx[262] * xx[116];

  xx[24] = xx[387] * xx[116];

  xx[31] = xx[80] * xx[846] * (xx[14] * xx[311] - xx[24] * xx[5]);

  xx[33] = xx[410] - xx[413];

  xx[167] = xx[111];

  xx[168] = xx[3];

  xx[169] = xx[855];

  pm_math_cross3(xx + 167, xx + 126, xx + 170);

  pm_math_quatXform(xx + 428, xx + 170, xx + 167);

  xx[3] = xx[167] - xx[848] * xx[433];

  xx[103] = xx[168] + xx[848] * xx[432];

  xx[107] = xx[103] * xx[313] + xx[383] * xx[3];

  xx[111] = xx[410] * xx[313] - xx[409] * xx[383];

  xx[115] = xx[313] * xx[433] + xx[432] * xx[383];

  xx[156] = (xx[433] + xx[80] * xx[111] * xx[313] - xx[80] * xx[115] * xx[313] -

             xx[410]) * xx[846];

  xx[159] = xx[409] - xx[437];

  xx[170] = (xx[432] + xx[80] * xx[111] * xx[383] - xx[80] * xx[115] * xx[383] +

             xx[39]) * xx[846];

  xx[171] = xx[848] * xx[33] + xx[3] - xx[80] * xx[107] * xx[383] - xx[156];

  xx[172] = xx[848] * xx[159] + xx[103] - xx[80] * xx[107] * xx[313] + xx[170];

  xx[173] = xx[169] - (xx[313] * xx[313] * xx[169] + xx[169] * xx[383] * xx[383])

    * xx[80];

  pm_math_quatXform(xx + 152, xx + 171, xx + 167);

  xx[3] = xx[341] * xx[19] - xx[15] * xx[340];

  xx[39] = xx[342] * xx[19] - xx[15] * xx[339];

  xx[103] = xx[339] * xx[19] + xx[15] * xx[342];

  xx[107] = xx[15] * xx[341] + xx[340] * xx[19];

  xx[171] = - xx[3];

  xx[172] = xx[39];

  xx[173] = xx[103];

  xx[174] = - xx[107];

  pm_math_quatCompose(xx + 72, xx + 171, xx + 175);

  xx[111] = xx[103] * xx[816];

  xx[115] = xx[816] * xx[39];

  xx[171] = xx[80] * (xx[111] * xx[3] - xx[107] * xx[115]);

  xx[172] = xx[340] * xx[818];

  xx[173] = xx[341] * xx[818];

  pm_math_quatInverseXform(xx + 335, xx + 81, xx + 179);

  pm_math_quatInverseXform(xx + 331, xx + 830, xx + 182);

  xx[174] = xx[23] * xx[261];

  xx[185] = xx[246] * xx[87] - xx[56] * xx[23];

  xx[186] = xx[87] * xx[261];

  xx[187] = - xx[174];

  xx[188] = xx[185];

  xx[189] = xx[186];

  pm_math_cross3(xx + 300, xx + 187, xx + 190);

  xx[187] = (xx[115] * xx[3] + xx[107] * xx[111]) * xx[80];

  xx[3] = xx[816] - (xx[115] * xx[39] + xx[103] * xx[111]) * xx[80];

  xx[197] = xx[171] + xx[80] * (xx[342] * xx[172] - xx[339] * xx[173]) + xx[179]

    + xx[182] + xx[80] * (xx[190] + xx[174] * xx[62]) - xx[87];

  xx[198] = (xx[339] * xx[172] + xx[342] * xx[173]) * xx[80] + xx[180] + xx[183]

    + xx[80] * (xx[191] - xx[62] * xx[185]) - xx[187];

  xx[199] = xx[3] + xx[818] - (xx[340] * xx[172] + xx[341] * xx[173]) * xx[80] +

    xx[181] + xx[184] + (xx[192] - xx[186] * xx[62]) * xx[80] - xx[23] + xx[838];

  pm_math_cross3(xx + 197, xx + 84, xx + 172);

  pm_math_quatXform(xx + 175, xx + 172, xx + 179);

  xx[172] = xx[305] * xx[838] - xx[344] * xx[23];

  xx[173] = xx[255] * xx[838] + xx[87] * xx[243] - xx[23] * xx[238];

  xx[174] = xx[80] * xx[254] * xx[838] + xx[344] * xx[87];

  pm_math_quatXform(xx + 140, xx + 172, xx + 182);

  pm_math_cross3(xx + 830, xx + 324, xx + 172);

  xx[188] = xx[65] + xx[182] + xx[172];

  xx[189] = xx[61] + xx[183] + xx[173];

  xx[190] = xx[184] - xx[67] + xx[174];

  pm_math_quatXform(xx + 68, xx + 188, xx + 172);

  pm_math_cross3(xx + 81, xx + 345, xx + 182);

  xx[188] = xx[149] + xx[172] + xx[182];

  xx[189] = xx[150] + xx[173] + xx[183];

  xx[190] = xx[151] + xx[174] + xx[184];

  pm_math_quatXform(xx + 42, xx + 188, xx + 172);

  xx[39] = xx[144] + xx[172] - xx[343] * xx[818];

  xx[103] = xx[145] + xx[173] + xx[349] * xx[818];

  xx[107] = xx[103] * xx[15] + xx[19] * xx[39];

  xx[111] = xx[343] * xx[15] + xx[349] * xx[19];

  xx[115] = xx[816] * (xx[343] - xx[80] * xx[111] * xx[15] + xx[123]);

  xx[182] = (xx[349] - xx[80] * xx[111] * xx[19] + xx[147]) * xx[816];

  xx[111] = xx[146] + xx[174];

  xx[172] = xx[64] + xx[39] - xx[80] * xx[107] * xx[19] - xx[115];

  xx[173] = xx[131] + xx[103] - xx[80] * xx[107] * xx[15] + xx[182];

  xx[174] = xx[111] - (xx[15] * xx[111] * xx[15] + xx[111] * xx[19] * xx[19]) *

    xx[80];

  pm_math_quatXform(xx + 72, xx + 172, xx + 183);

  xx[39] = xx[846] * (xx[116] - (xx[387] * xx[24] + xx[262] * xx[14]) * xx[80]);

  xx[103] = xx[80] * (xx[14] * xx[5] + xx[24] * xx[311]) * xx[846];

  xx[188] = xx[451];

  xx[189] = xx[458];

  xx[190] = xx[534];

  xx[191] = xx[585];

  xx[5] = xx[558] * xx[399] - xx[452] * xx[544];

  xx[14] = xx[399] * xx[560] + xx[452] * xx[513];

  xx[24] = xx[399] * xx[513] - xx[452] * xx[560];

  xx[107] = xx[558] * xx[452] + xx[399] * xx[544];

  xx[197] = xx[5];

  xx[198] = - xx[14];

  xx[199] = xx[24];

  xx[200] = xx[107];

  pm_math_quatCompose(xx + 188, xx + 197, xx + 201);

  xx[111] = xx[24] * xx[868];

  xx[116] = xx[868] * xx[14];

  xx[172] = xx[80] * (xx[5] * xx[111] + xx[116] * xx[107]);

  xx[173] = xx[558] * xx[870];

  xx[174] = xx[870] * xx[544];

  xx[186] = xx[21] * xx[875];

  xx[192] = xx[21] * xx[876];

  xx[193] = xx[875] - (xx[21] * xx[186] - xx[25] * xx[192]) * xx[80];

  xx[195] = xx[876] - xx[80] * (xx[25] * xx[186] + xx[21] * xx[192]);

  xx[186] = (xx[111] * xx[107] - xx[5] * xx[116]) * xx[80];

  xx[5] = (xx[116] * xx[14] + xx[24] * xx[111]) * xx[80] - xx[868];

  xx[197] = xx[172] + (xx[173] * xx[513] + xx[174] * xx[560]) * xx[80] + xx[193];

  xx[198] = xx[80] * (xx[173] * xx[560] - xx[174] * xx[513]) + xx[195] - xx[186];

  xx[199] = xx[5] + xx[870] - (xx[174] * xx[544] + xx[558] * xx[173]) * xx[80] +

    xx[877];

  pm_math_cross3(xx + 197, xx + 267, xx + 205);

  pm_math_quatXform(xx + 201, xx + 205, xx + 197);

  xx[14] = xx[582] - xx[548];

  xx[205] = xx[193];

  xx[206] = xx[195];

  xx[207] = xx[877];

  pm_math_cross3(xx + 205, xx + 126, xx + 208);

  pm_math_quatXform(xx + 575, xx + 208, xx + 205);

  xx[24] = xx[205] - xx[870] * xx[580];

  xx[107] = xx[206] + xx[870] * xx[579];

  xx[111] = xx[107] * xx[452] + xx[399] * xx[24];

  xx[116] = xx[547] * xx[399] - xx[548] * xx[452];

  xx[173] = xx[452] * xx[580] + xx[579] * xx[399];

  xx[174] = (xx[580] + xx[80] * xx[116] * xx[452] - xx[80] * xx[173] * xx[452] +

             xx[548]) * xx[868];

  xx[192] = xx[589] - xx[547];

  xx[193] = (xx[579] + xx[80] * xx[116] * xx[399] - xx[80] * xx[173] * xx[399] +

             xx[130]) * xx[868];

  xx[208] = xx[870] * xx[14] + xx[24] - xx[80] * xx[111] * xx[399] + xx[174];

  xx[209] = xx[870] * xx[192] + xx[107] - xx[80] * xx[111] * xx[452] - xx[193];

  xx[210] = xx[207] - (xx[452] * xx[452] * xx[207] + xx[207] * xx[399] * xx[399])

    * xx[80];

  pm_math_quatXform(xx + 188, xx + 208, xx + 205);

  xx[24] = xx[10] * xx[458];

  xx[107] = xx[10] * xx[543];

  xx[111] = xx[80] * xx[868] * (xx[534] * xx[24] + xx[451] * xx[107]);

  xx[116] = xx[490] * xx[19] - xx[15] * xx[489];

  xx[130] = xx[491] * xx[19] - xx[15] * xx[488];

  xx[173] = xx[488] * xx[19] + xx[15] * xx[491];

  xx[195] = xx[15] * xx[490] + xx[489] * xx[19];

  xx[208] = - xx[116];

  xx[209] = xx[130];

  xx[210] = xx[173];

  xx[211] = - xx[195];

  pm_math_quatCompose(xx + 72, xx + 208, xx + 212);

  xx[200] = xx[173] * xx[816];

  xx[208] = xx[816] * xx[130];

  xx[209] = xx[80] * (xx[200] * xx[116] - xx[195] * xx[208]);

  xx[210] = xx[818] * xx[489];

  xx[211] = xx[818] * xx[490];

  pm_math_quatInverseXform(xx + 484, xx + 81, xx + 216);

  pm_math_quatInverseXform(xx + 480, xx + 830, xx + 219);

  xx[222] = xx[440] * xx[23];

  xx[223] = xx[23] * xx[303] - xx[87] * xx[400];

  xx[224] = xx[440] * xx[87];

  xx[225] = xx[222];

  xx[226] = xx[223];

  xx[227] = - xx[224];

  pm_math_cross3(xx + 441, xx + 225, xx + 228);

  xx[225] = (xx[208] * xx[116] + xx[195] * xx[200]) * xx[80];

  xx[116] = xx[816] - (xx[208] * xx[130] + xx[173] * xx[200]) * xx[80];

  xx[231] = xx[209] + xx[80] * (xx[491] * xx[210] - xx[488] * xx[211]) + xx[216]

    + xx[219] + xx[80] * (xx[228] + xx[397] * xx[222]) - xx[87];

  xx[232] = (xx[488] * xx[210] + xx[491] * xx[211]) * xx[80] + xx[217] + xx[220]

    + xx[80] * (xx[229] + xx[397] * xx[223]) - xx[225];

  xx[233] = xx[116] + xx[818] - (xx[489] * xx[210] + xx[490] * xx[211]) * xx[80]

    + xx[218] + xx[221] + (xx[230] - xx[397] * xx[224]) * xx[80] - xx[23] - xx

    [840];

  pm_math_cross3(xx + 231, xx + 84, xx + 216);

  pm_math_quatXform(xx + 212, xx + 216, xx + 219);

  xx[216] = xx[457] * xx[840] - xx[493] * xx[23];

  xx[217] = xx[401] * xx[840] + xx[23] * xx[13] + xx[87] * xx[314];

  xx[218] = xx[80] * xx[327] * xx[840] + xx[493] * xx[87];

  pm_math_quatXform(xx + 140, xx + 216, xx + 222);

  pm_math_cross3(xx + 830, xx + 454, xx + 216);

  xx[226] = xx[65] + xx[222] + xx[216];

  xx[227] = xx[61] + xx[223] + xx[217];

  xx[228] = xx[224] - xx[67] + xx[218];

  pm_math_quatXform(xx + 68, xx + 226, xx + 216);

  pm_math_cross3(xx + 81, xx + 494, xx + 222);

  xx[226] = xx[149] + xx[216] + xx[222];

  xx[227] = xx[150] + xx[217] + xx[223];

  xx[228] = xx[151] + xx[218] + xx[224];

  pm_math_quatXform(xx + 42, xx + 226, xx + 216);

  xx[130] = xx[144] + xx[216] - xx[492] * xx[818];

  xx[173] = xx[145] + xx[217] + xx[498] * xx[818];

  xx[195] = xx[173] * xx[15] + xx[19] * xx[130];

  xx[200] = xx[492] * xx[15] + xx[498] * xx[19];

  xx[208] = xx[816] * (xx[492] - xx[80] * xx[200] * xx[15] + xx[123]);

  xx[210] = (xx[498] - xx[80] * xx[200] * xx[19] + xx[147]) * xx[816];

  xx[200] = xx[146] + xx[218];

  xx[216] = xx[64] + xx[130] - xx[80] * xx[195] * xx[19] - xx[208];

  xx[217] = xx[131] + xx[173] - xx[80] * xx[195] * xx[15] + xx[210];

  xx[218] = xx[200] - (xx[15] * xx[200] * xx[15] + xx[200] * xx[19] * xx[19]) *

    xx[80];

  pm_math_quatXform(xx + 72, xx + 216, xx + 222);

  xx[130] = xx[868] * ((xx[107] * xx[543] + xx[24] * xx[458]) * xx[80] - xx[10]);

  xx[173] = xx[80] * (xx[534] * xx[107] - xx[451] * xx[24]) * xx[868];

  xx[226] = xx[604];

  xx[227] = xx[733];

  xx[228] = xx[677];

  xx[229] = xx[678];

  xx[24] = xx[706] * xx[532] - xx[605] * xx[686];

  xx[107] = xx[532] * xx[708] + xx[605] * xx[670];

  xx[195] = xx[532] * xx[670] - xx[605] * xx[708];

  xx[200] = xx[706] * xx[605] + xx[532] * xx[686];

  xx[230] = xx[24];

  xx[231] = - xx[107];

  xx[232] = xx[195];

  xx[233] = xx[200];

  pm_math_quatCompose(xx + 226, xx + 230, xx + 234);

  xx[211] = xx[195] * xx[879];

  xx[216] = xx[879] * xx[107];

  xx[217] = xx[80] * (xx[24] * xx[211] + xx[216] * xx[200]);

  xx[218] = xx[706] * xx[881];

  xx[230] = xx[881] * xx[686];

  xx[231] = xx[21] * xx[886];

  xx[232] = xx[21] * xx[887];

  xx[233] = xx[886] - (xx[21] * xx[231] - xx[25] * xx[232]) * xx[80];

  xx[239] = xx[887] - xx[80] * (xx[25] * xx[231] + xx[21] * xx[232]);

  xx[231] = (xx[211] * xx[200] - xx[24] * xx[216]) * xx[80];

  xx[24] = (xx[216] * xx[107] + xx[195] * xx[211]) * xx[80] - xx[879];

  xx[240] = xx[217] + (xx[218] * xx[670] + xx[230] * xx[708]) * xx[80] + xx[233];

  xx[241] = xx[80] * (xx[218] * xx[708] - xx[230] * xx[670]) + xx[239] - xx[231];

  xx[242] = xx[24] + xx[881] - (xx[230] * xx[686] + xx[706] * xx[218]) * xx[80]

    + xx[888];

  pm_math_cross3(xx + 240, xx + 267, xx + 247);

  pm_math_quatXform(xx + 234, xx + 247, xx + 240);

  xx[107] = xx[10] * xx[612];

  xx[195] = xx[10] * xx[678];

  xx[200] = xx[80] * xx[879] * (xx[677] * xx[107] + xx[604] * xx[195]);

  xx[211] = xx[731] - xx[685];

  xx[247] = xx[233];

  xx[248] = xx[239];

  xx[249] = xx[888];

  pm_math_cross3(xx + 247, xx + 126, xx + 251);

  pm_math_quatXform(xx + 725, xx + 251, xx + 247);

  xx[216] = xx[247] - xx[881] * xx[730];

  xx[218] = xx[248] + xx[881] * xx[729];

  xx[230] = xx[218] * xx[605] + xx[532] * xx[216];

  xx[232] = xx[684] * xx[532] - xx[685] * xx[605];

  xx[233] = xx[605] * xx[730] + xx[729] * xx[532];

  xx[239] = (xx[730] + xx[80] * xx[232] * xx[605] - xx[80] * xx[233] * xx[605] +

             xx[685]) * xx[879];

  xx[251] = xx[737] - xx[684];

  xx[252] = (xx[729] + xx[80] * xx[232] * xx[532] - xx[80] * xx[233] * xx[532] +

             xx[196]) * xx[879];

  xx[258] = xx[881] * xx[211] + xx[216] - xx[80] * xx[230] * xx[532] + xx[239];

  xx[259] = xx[881] * xx[251] + xx[218] - xx[80] * xx[230] * xx[605] - xx[252];

  xx[260] = xx[249] - (xx[605] * xx[605] * xx[249] + xx[249] * xx[532] * xx[532])

    * xx[80];

  pm_math_quatXform(xx + 226, xx + 258, xx + 247);

  xx[196] = xx[640] * xx[19] - xx[15] * xx[639];

  xx[216] = xx[641] * xx[19] - xx[15] * xx[638];

  xx[218] = xx[638] * xx[19] + xx[15] * xx[641];

  xx[230] = xx[15] * xx[640] + xx[639] * xx[19];

  xx[262] = - xx[196];

  xx[263] = xx[216];

  xx[264] = xx[218];

  xx[265] = - xx[230];

  pm_math_quatCompose(xx + 72, xx + 262, xx + 277);

  xx[232] = xx[218] * xx[816];

  xx[233] = xx[816] * xx[216];

  xx[253] = xx[80] * (xx[232] * xx[196] - xx[230] * xx[233]);

  xx[254] = xx[818] * xx[639];

  xx[258] = xx[818] * xx[640];

  pm_math_quatInverseXform(xx + 630, xx + 81, xx + 262);

  pm_math_quatInverseXform(xx + 626, xx + 830, xx + 281);

  xx[259] = xx[546] * xx[23];

  xx[260] = xx[23] * xx[379] - xx[87] * xx[473];

  xx[265] = xx[546] * xx[87];

  xx[284] = - xx[259];

  xx[285] = xx[260];

  xx[286] = xx[265];

  pm_math_cross3(xx + 601, xx + 284, xx + 287);

  xx[266] = (xx[233] * xx[196] + xx[230] * xx[232]) * xx[80];

  xx[196] = xx[816] - (xx[233] * xx[216] + xx[218] * xx[232]) * xx[80];

  xx[284] = xx[253] + xx[80] * (xx[641] * xx[254] - xx[638] * xx[258]) + xx[262]

    + xx[281] + xx[80] * (xx[287] + xx[312] * xx[259]) - xx[87];

  xx[285] = (xx[638] * xx[254] + xx[641] * xx[258]) * xx[80] + xx[263] + xx[282]

    + xx[80] * (xx[288] - xx[312] * xx[260]) - xx[266];

  xx[286] = xx[196] + xx[818] - (xx[639] * xx[254] + xx[640] * xx[258]) * xx[80]

    + xx[264] + xx[283] + (xx[289] - xx[312] * xx[265]) * xx[80] - xx[23] - xx

    [842];

  pm_math_cross3(xx + 284, xx + 84, xx + 258);

  pm_math_quatXform(xx + 277, xx + 258, xx + 262);

  xx[258] = xx[611] * xx[842] - xx[635] * xx[23];

  xx[259] = xx[535] * xx[842] + xx[23] * xx[463] + xx[87] * xx[446];

  xx[260] = xx[80] * xx[506] * xx[842] + xx[635] * xx[87];

  pm_math_quatXform(xx + 140, xx + 258, xx + 281);

  pm_math_cross3(xx + 830, xx + 595, xx + 258);

  xx[284] = xx[65] + xx[281] + xx[258];

  xx[285] = xx[61] + xx[282] + xx[259];

  xx[286] = xx[283] - xx[67] + xx[260];

  pm_math_quatXform(xx + 68, xx + 284, xx + 258);

  pm_math_cross3(xx + 81, xx + 644, xx + 281);

  xx[284] = xx[149] + xx[258] + xx[281];

  xx[285] = xx[150] + xx[259] + xx[282];

  xx[286] = xx[151] + xx[260] + xx[283];

  pm_math_quatXform(xx + 42, xx + 284, xx + 258);

  xx[216] = xx[144] + xx[258] - xx[634] * xx[818];

  xx[218] = xx[145] + xx[259] + xx[636] * xx[818];

  xx[230] = xx[218] * xx[15] + xx[19] * xx[216];

  xx[232] = xx[634] * xx[15] + xx[636] * xx[19];

  xx[233] = xx[816] * (xx[634] - xx[80] * xx[232] * xx[15] + xx[123]);

  xx[254] = (xx[636] - xx[80] * xx[232] * xx[19] + xx[147]) * xx[816];

  xx[232] = xx[146] + xx[260];

  xx[258] = xx[64] + xx[216] - xx[80] * xx[230] * xx[19] - xx[233];

  xx[259] = xx[131] + xx[218] - xx[80] * xx[230] * xx[15] + xx[254];

  xx[260] = xx[232] - (xx[15] * xx[232] * xx[15] + xx[232] * xx[19] * xx[19]) *

    xx[80];

  pm_math_quatXform(xx + 72, xx + 258, xx + 281);

  xx[216] = xx[879] * ((xx[195] * xx[678] + xx[107] * xx[612]) * xx[80] - xx[10]);

  xx[218] = xx[80] * (xx[604] * xx[107] - xx[677] * xx[195]) * xx[879];

  xx[284] = xx[672];

  xx[285] = xx[784];

  xx[286] = xx[741];

  xx[287] = xx[785];

  xx[107] = xx[745] * xx[643] - xx[660] * xx[743];

  xx[195] = xx[643] * xx[753] + xx[660] * xx[720];

  xx[230] = xx[643] * xx[720] - xx[660] * xx[753];

  xx[232] = xx[745] * xx[660] + xx[643] * xx[743];

  xx[288] = xx[107];

  xx[289] = - xx[195];

  xx[290] = xx[230];

  xx[291] = xx[232];

  pm_math_quatCompose(xx + 284, xx + 288, xx + 292);

  xx[258] = xx[230] * xx[805];

  xx[259] = xx[805] * xx[195];

  xx[260] = xx[80] * (xx[107] * xx[258] + xx[259] * xx[232]);

  xx[265] = xx[745] * xx[807];

  xx[270] = xx[807] * xx[743];

  xx[288] = xx[21] * xx[812];

  xx[289] = xx[21] * xx[813];

  xx[290] = xx[812] - (xx[21] * xx[288] - xx[25] * xx[289]) * xx[80];

  xx[291] = xx[813] - xx[80] * (xx[25] * xx[288] + xx[21] * xx[289]);

  xx[288] = (xx[258] * xx[232] - xx[107] * xx[259]) * xx[80];

  xx[107] = (xx[259] * xx[195] + xx[230] * xx[258]) * xx[80] - xx[805];

  xx[296] = xx[260] + (xx[265] * xx[720] + xx[270] * xx[753]) * xx[80] + xx[290];

  xx[297] = xx[80] * (xx[265] * xx[753] - xx[270] * xx[720]) + xx[291] - xx[288];

  xx[298] = xx[107] + xx[807] - (xx[270] * xx[743] + xx[745] * xx[265]) * xx[80]

    + xx[814];

  pm_math_cross3(xx + 296, xx + 267, xx + 307);

  pm_math_quatXform(xx + 292, xx + 307, xx + 296);

  xx[195] = xx[10] * xx[671];

  xx[230] = xx[10] * xx[742];

  xx[232] = xx[80] * xx[805] * (xx[741] * xx[195] - xx[672] * xx[230]);

  xx[307] = xx[290];

  xx[308] = xx[291];

  xx[309] = xx[814];

  pm_math_cross3(xx + 307, xx + 126, xx + 289);

  pm_math_quatXform(xx + 777, xx + 289, xx + 307);

  xx[258] = xx[307] - xx[807] * xx[782];

  xx[259] = xx[308] + xx[807] * xx[781];

  xx[265] = xx[259] * xx[660] + xx[643] * xx[258];

  xx[270] = xx[747] + xx[776];

  xx[289] = xx[747] * xx[660] + xx[746] * xx[643];

  xx[290] = xx[660] * xx[782] + xx[781] * xx[643];

  xx[291] = (xx[782] - xx[80] * xx[289] * xx[660] - xx[80] * xx[290] * xx[660] +

             xx[747]) * xx[805];

  xx[299] = xx[746] - xx[789];

  xx[304] = (xx[781] - xx[80] * xx[289] * xx[643] - xx[80] * xx[290] * xx[643] +

             xx[194]) * xx[805];

  xx[315] = xx[258] - xx[80] * xx[265] * xx[643] - xx[807] * xx[270] + xx[291];

  xx[316] = xx[807] * xx[299] + xx[259] - xx[80] * xx[265] * xx[660] - xx[304];

  xx[317] = xx[309] - (xx[660] * xx[660] * xx[309] + xx[309] * xx[643] * xx[643])

    * xx[80];

  pm_math_quatXform(xx + 284, xx + 315, xx + 307);

  xx[194] = xx[917] * xx[19] - xx[15] * xx[916];

  xx[258] = xx[918] * xx[19] - xx[15] * xx[915];

  xx[259] = xx[915] * xx[19] + xx[15] * xx[918];

  xx[265] = xx[15] * xx[917] + xx[916] * xx[19];

  xx[315] = - xx[194];

  xx[316] = xx[258];

  xx[317] = xx[259];

  xx[318] = - xx[265];

  pm_math_quatCompose(xx + 72, xx + 315, xx + 319);

  xx[289] = xx[259] * xx[816];

  xx[290] = xx[816] * xx[258];

  xx[310] = xx[80] * (xx[289] * xx[194] - xx[265] * xx[290]);

  xx[311] = xx[818] * xx[916];

  xx[315] = xx[818] * xx[917];

  pm_math_quatInverseXform(xx + 911, xx + 81, xx + 316);

  pm_math_quatInverseXform(xx + 897, xx + 830, xx + 327);

  xx[323] = xx[87] * xx[637];

  xx[330] = (xx[290] * xx[194] + xx[265] * xx[289]) * xx[80];

  xx[194] = xx[816] - (xx[290] * xx[258] + xx[259] * xx[289]) * xx[80];

  xx[350] = xx[310] + xx[80] * (xx[918] * xx[311] - xx[915] * xx[315]) + xx[316]

    + xx[327] + xx[80] * xx[323] * xx[637] - xx[87];

  xx[351] = (xx[915] * xx[311] + xx[918] * xx[315]) * xx[80] + xx[317] + xx[328]

    - xx[80] * xx[2] * xx[323] - xx[330];

  xx[352] = xx[194] + xx[818] - (xx[916] * xx[311] + xx[917] * xx[315]) * xx[80]

    + xx[318] + xx[329] - (xx[23] + xx[844]);

  pm_math_cross3(xx + 350, xx + 84, xx + 315);

  pm_math_quatXform(xx + 319, xx + 315, xx + 327);

  xx[315] = xx[17] * xx[844] - xx[23] * xx[66];

  xx[316] = - (xx[844] * xx[20] + xx[23] * xx[707] + xx[790] * xx[87]);

  xx[317] = xx[87] * xx[66];

  pm_math_quatXform(xx + 140, xx + 315, xx + 350);

  pm_math_cross3(xx + 830, xx + 891, xx + 315);

  xx[353] = xx[65] + xx[350] + xx[315];

  xx[354] = xx[61] + xx[351] + xx[316];

  xx[355] = xx[352] - xx[67] + xx[317];

  pm_math_quatXform(xx + 68, xx + 353, xx + 315);

  pm_math_cross3(xx + 81, xx + 919, xx + 350);

  xx[81] = xx[149] + xx[315] + xx[350];

  xx[82] = xx[150] + xx[316] + xx[351];

  xx[83] = xx[151] + xx[317] + xx[352];

  pm_math_quatXform(xx + 42, xx + 81, xx + 149);

  xx[23] = xx[144] + xx[149] - xx[121] * xx[818];

  xx[61] = xx[145] + xx[150] + xx[148] * xx[818];

  xx[65] = xx[61] * xx[15] + xx[19] * xx[23];

  xx[67] = xx[121] * xx[15] + xx[148] * xx[19];

  xx[81] = xx[816] * (xx[121] - xx[80] * xx[67] * xx[15] + xx[123]);

  xx[82] = (xx[148] - xx[80] * xx[67] * xx[19] + xx[147]) * xx[816];

  xx[67] = xx[146] + xx[151];

  xx[144] = xx[64] + xx[23] - xx[80] * xx[65] * xx[19] - xx[81];

  xx[145] = xx[131] + xx[61] - xx[80] * xx[65] * xx[15] + xx[82];

  xx[146] = xx[67] - (xx[15] * xx[67] * xx[15] + xx[67] * xx[19] * xx[19]) * xx

    [80];

  pm_math_quatXform(xx + 72, xx + 144, xx + 149);

  xx[23] = xx[805] * ((xx[230] * xx[742] + xx[195] * xx[671]) * xx[80] - xx[10]);

  xx[10] = xx[80] * (xx[672] * xx[195] + xx[741] * xx[230]) * xx[805];

  xx[350] = xx[46] + xx[4] + xx[49] - (xx[104] + xx[34] + xx[77]);

  xx[351] = xx[47] + xx[96] + xx[50] - (xx[105] + xx[90] + xx[78]);

  xx[352] = xx[48] + xx[6] + xx[51] - (xx[106] + xx[1] + xx[79]);

  xx[353] = xx[164] + xx[31] + xx[167] - (xx[179] + xx[34] + xx[183]);

  xx[354] = xx[165] + xx[39] + xx[168] - (xx[180] + xx[90] + xx[184]);

  xx[355] = xx[166] + xx[103] + xx[169] - (xx[181] + xx[1] + xx[185]);

  xx[356] = xx[197] + xx[205] - xx[111] - (xx[219] + xx[34] + xx[222]);

  xx[357] = xx[198] + xx[130] + xx[206] - (xx[220] + xx[90] + xx[223]);

  xx[358] = xx[199] + xx[173] + xx[207] - (xx[221] + xx[1] + xx[224]);

  xx[359] = xx[240] + xx[200] + xx[247] - (xx[262] + xx[34] + xx[281]);

  xx[360] = xx[241] + xx[216] + xx[248] - (xx[263] + xx[90] + xx[282]);

  xx[361] = xx[242] + xx[218] + xx[249] - (xx[264] + xx[1] + xx[283]);

  xx[362] = xx[296] + xx[232] + xx[307] - (xx[327] + xx[34] + xx[149]);

  xx[363] = xx[297] + xx[23] + xx[308] - (xx[328] + xx[90] + xx[150]);

  xx[364] = xx[298] + xx[10] + xx[309] - (xx[329] + xx[1] + xx[151]);

  memcpy(xx + 1469, xx + 941, 495 * sizeof(double));

  factorAndSolveWide(15, 33, xx + 1469, xx + 402, xx + 514, ii + 0, xx + 350,

                     xx[16], xx + 1436);

  xx[16] = xx[807] + xx[1436];

  xx[46] = xx[812] + xx[1437];

  xx[47] = xx[813] + xx[1438];

  xx[48] = xx[814] + xx[1439];

  xx[49] = xx[818] + xx[1440];

  xx[50] = xx[823] + xx[1441];

  xx[51] = xx[824] + xx[1442];

  xx[61] = xx[825] + xx[1443];

  xx[64] = xx[830] + xx[1444];

  xx[65] = xx[831] + xx[1445];

  xx[67] = xx[832] + xx[1446];

  xx[77] = xx[834] + xx[1447];

  xx[78] = xx[836] + xx[1448];

  xx[79] = xx[838] + xx[1449];

  xx[83] = xx[840] + xx[1450];

  xx[87] = xx[842] + xx[1451];

  xx[104] = xx[844] + xx[1452];

  xx[105] = xx[848] + xx[1453];

  xx[106] = xx[853] + xx[1454];

  xx[123] = xx[854] + xx[1455];

  xx[131] = xx[855] + xx[1456];

  xx[144] = xx[859] + xx[1457];

  xx[145] = xx[864] + xx[1458];

  xx[146] = xx[865] + xx[1459];

  xx[147] = xx[866] + xx[1460];

  xx[149] = xx[870] + xx[1461];

  xx[150] = xx[875] + xx[1462];

  xx[151] = xx[876] + xx[1463];

  xx[164] = xx[877] + xx[1464];

  xx[165] = xx[881] + xx[1465];

  xx[166] = xx[886] + xx[1466];

  xx[167] = xx[887] + xx[1467];

  xx[168] = xx[888] + xx[1468];

  xx[922] = xx[792];

  xx[923] = xx[793];

  xx[924] = xx[794];

  xx[925] = xx[795];

  xx[926] = xx[796];

  xx[927] = xx[797];

  xx[928] = xx[798];

  xx[929] = xx[799];

  xx[930] = xx[800];

  xx[931] = xx[801];

  xx[932] = xx[802];

  xx[933] = xx[803];

  xx[934] = xx[804];

  xx[935] = xx[805];

  xx[936] = xx[806];

  xx[937] = xx[16];

  xx[938] = xx[808];

  xx[939] = xx[809];

  xx[940] = xx[810];

  xx[941] = xx[811];

  xx[942] = xx[46];

  xx[943] = xx[47];

  xx[944] = xx[48];

  xx[945] = xx[815];

  xx[946] = xx[816];

  xx[947] = xx[817];

  xx[948] = xx[49];

  xx[949] = xx[819];

  xx[950] = xx[820];

  xx[951] = xx[821];

  xx[952] = xx[822];

  xx[953] = xx[50];

  xx[954] = xx[51];

  xx[955] = xx[61];

  xx[956] = xx[826];

  xx[957] = xx[827];

  xx[958] = xx[828];

  xx[959] = xx[829];

  xx[960] = xx[64];

  xx[961] = xx[65];

  xx[962] = xx[67];

  xx[963] = xx[833];

  xx[964] = xx[77];

  xx[965] = xx[835];

  xx[966] = xx[78];

  xx[967] = xx[837];

  xx[968] = xx[79];

  xx[969] = xx[839];

  xx[970] = xx[83];

  xx[971] = xx[841];

  xx[972] = xx[87];

  xx[973] = xx[843];

  xx[974] = xx[104];

  xx[975] = xx[845];

  xx[976] = xx[846];

  xx[977] = xx[847];

  xx[978] = xx[105];

  xx[979] = xx[849];

  xx[980] = xx[850];

  xx[981] = xx[851];

  xx[982] = xx[852];

  xx[983] = xx[106];

  xx[984] = xx[123];

  xx[985] = xx[131];

  xx[986] = xx[856];

  xx[987] = xx[857];

  xx[988] = xx[858];

  xx[989] = xx[144];

  xx[990] = xx[860];

  xx[991] = xx[861];

  xx[992] = xx[862];

  xx[993] = xx[863];

  xx[994] = xx[145];

  xx[995] = xx[146];

  xx[996] = xx[147];

  xx[997] = xx[867];

  xx[998] = xx[868];

  xx[999] = xx[869];

  xx[1000] = xx[149];

  xx[1001] = xx[871];

  xx[1002] = xx[872];

  xx[1003] = xx[873];

  xx[1004] = xx[874];

  xx[1005] = xx[150];

  xx[1006] = xx[151];

  xx[1007] = xx[164];

  xx[1008] = xx[878];

  xx[1009] = xx[879];

  xx[1010] = xx[880];

  xx[1011] = xx[165];

  xx[1012] = xx[882];

  xx[1013] = xx[883];

  xx[1014] = xx[884];

  xx[1015] = xx[885];

  xx[1016] = xx[166];

  xx[1017] = xx[167];

  xx[1018] = xx[168];

  xx[169] = xx[49] * xx[137];

  xx[179] = xx[49] * xx[138];

  xx[180] = xx[50] * xx[21];

  xx[181] = xx[51] * xx[21];

  xx[183] = xx[50] - (xx[21] * xx[180] - xx[25] * xx[181]) * xx[80];

  xx[184] = xx[51] - xx[80] * (xx[25] * xx[180] + xx[21] * xx[181]);

  xx[185] = xx[61];

  pm_math_quatInverseXform(xx + 97, xx + 183, xx + 197);

  xx[97] = xx[64];

  xx[98] = xx[65];

  xx[99] = xx[67];

  pm_math_quatInverseXform(xx + 91, xx + 97, xx + 205);

  xx[50] = xx[77] * xx[57];

  xx[51] = xx[50] * xx[76];

  xx[57] = xx[77] * xx[63];

  xx[63] = xx[59] + xx[80] * (xx[139] * xx[169] - xx[136] * xx[179]) + xx[197] +

    xx[205] + xx[80] * xx[51] * xx[76] - xx[50];

  xx[64] = (xx[136] * xx[169] + xx[139] * xx[179]) * xx[80] + xx[198] + xx[206]

    - xx[80] * xx[52] * xx[51] - xx[102];

  xx[65] = xx[18] + xx[49] - (xx[137] * xx[169] + xx[138] * xx[179]) * xx[80] +

    xx[199] + xx[207] - (xx[57] + xx[78]);

  pm_math_cross3(xx + 63, xx + 84, xx + 91);

  pm_math_quatXform(xx + 117, xx + 91, xx + 63);

  xx[18] = xx[49] * xx[55];

  pm_math_cross3(xx + 183, xx + 126, xx + 91);

  pm_math_quatXform(xx + 42, xx + 91, xx + 117);

  pm_math_cross3(xx + 97, xx + 112, xx + 91);

  pm_math_quatXform(xx + 68, xx + 91, xx + 112);

  xx[51] = xx[77] * xx[60];

  xx[59] = xx[8] * xx[78] - xx[57] * xx[88];

  xx[60] = xx[78] * xx[11] + xx[57] * xx[101] - xx[95] * xx[50];

  xx[61] = xx[50] * xx[88];

  pm_math_quatXform(xx + 140, xx + 59, xx + 91);

  pm_math_cross3(xx + 97, xx + 108, xx + 59);

  xx[8] = xx[77] * xx[58];

  xx[11] = xx[77] * xx[40];

  xx[76] = xx[51] + xx[91] + xx[59];

  xx[77] = xx[8] + xx[92] + xx[60];

  xx[78] = xx[93] - xx[11] + xx[61];

  pm_math_quatXform(xx + 68, xx + 76, xx + 58);

  pm_math_cross3(xx + 183, xx + 132, xx + 76);

  xx[91] = xx[112] + xx[58] + xx[76];

  xx[92] = xx[113] + xx[59] + xx[77];

  xx[93] = xx[114] + xx[60] + xx[78];

  pm_math_quatXform(xx + 42, xx + 91, xx + 58);

  xx[40] = xx[117] + xx[58] - xx[124] * xx[49];

  xx[52] = xx[118] + xx[59] + xx[125] * xx[49];

  xx[55] = xx[52] * xx[15] + xx[19] * xx[40];

  xx[61] = xx[49] * xx[135];

  xx[58] = xx[119] + xx[60];

  xx[76] = xx[18] + xx[40] - xx[80] * xx[55] * xx[19] - xx[129];

  xx[77] = xx[61] + xx[52] - xx[80] * xx[55] * xx[15] + xx[9];

  xx[78] = xx[58] - (xx[15] * xx[58] * xx[15] + xx[58] * xx[19] * xx[19]) * xx

    [80];

  pm_math_quatXform(xx + 72, xx + 76, xx + 58);

  xx[9] = xx[250] * xx[144];

  xx[40] = xx[144] * xx[245];

  xx[52] = xx[145] * xx[21];

  xx[55] = xx[146] * xx[21];

  xx[67] = xx[145] - (xx[21] * xx[52] - xx[25] * xx[55]) * xx[80];

  xx[76] = xx[146] - xx[80] * (xx[25] * xx[52] + xx[21] * xx[55]);

  xx[91] = xx[22] + (xx[9] * xx[244] + xx[40] * xx[256]) * xx[80] + xx[67];

  xx[92] = xx[80] * (xx[9] * xx[256] - xx[40] * xx[244]) + xx[76] - xx[32];

  xx[93] = xx[0] + xx[144] - (xx[40] * xx[245] + xx[250] * xx[9]) * xx[80] + xx

    [147];

  pm_math_cross3(xx + 91, xx + 267, xx + 100);

  pm_math_quatXform(xx + 35, xx + 100, xx + 91);

  xx[35] = xx[67];

  xx[36] = xx[76];

  xx[37] = xx[147];

  pm_math_cross3(xx + 35, xx + 126, xx + 76);

  pm_math_quatXform(xx + 271, xx + 76, xx + 35);

  xx[0] = xx[35] - xx[144] * xx[276];

  xx[9] = xx[36] + xx[144] * xx[275];

  xx[22] = xx[9] * xx[89] + xx[122] * xx[0];

  xx[76] = xx[144] * xx[12] + xx[0] - xx[80] * xx[22] * xx[122] + xx[41];

  xx[77] = xx[9] - xx[80] * xx[22] * xx[89] - xx[144] * xx[53] - xx[54];

  xx[78] = xx[37] - (xx[89] * xx[89] * xx[37] + xx[37] * xx[122] * xx[122]) *

    xx[80];

  pm_math_quatXform(xx + 27, xx + 76, xx + 35);

  xx[0] = xx[49] * xx[340];

  xx[9] = xx[49] * xx[341];

  pm_math_quatInverseXform(xx + 335, xx + 183, xx + 27);

  pm_math_quatInverseXform(xx + 331, xx + 97, xx + 52);

  xx[12] = xx[57] * xx[261];

  xx[22] = xx[246] * xx[50] - xx[56] * xx[57];

  xx[30] = xx[50] * xx[261];

  xx[76] = - xx[12];

  xx[77] = xx[22];

  xx[78] = xx[30];

  pm_math_cross3(xx + 300, xx + 76, xx + 100);

  xx[76] = xx[171] + xx[80] * (xx[342] * xx[0] - xx[339] * xx[9]) + xx[27] + xx

    [52] + xx[80] * (xx[100] + xx[12] * xx[62]) - xx[50];

  xx[77] = (xx[339] * xx[0] + xx[342] * xx[9]) * xx[80] + xx[28] + xx[53] + xx

    [80] * (xx[101] - xx[62] * xx[22]) - xx[187];

  xx[78] = xx[3] + xx[49] - (xx[340] * xx[0] + xx[341] * xx[9]) * xx[80] + xx[29]

    + xx[54] + (xx[102] - xx[30] * xx[62]) * xx[80] - xx[57] + xx[79];

  pm_math_cross3(xx + 76, xx + 84, xx + 27);

  pm_math_quatXform(xx + 175, xx + 27, xx + 52);

  xx[27] = xx[305] * xx[79] - xx[344] * xx[57];

  xx[28] = xx[255] * xx[79] + xx[50] * xx[243] - xx[57] * xx[238];

  xx[29] = xx[79] * xx[257] + xx[344] * xx[50];

  pm_math_quatXform(xx + 140, xx + 27, xx + 76);

  pm_math_cross3(xx + 97, xx + 324, xx + 27);

  xx[100] = xx[51] + xx[76] + xx[27];

  xx[101] = xx[8] + xx[77] + xx[28];

  xx[102] = xx[78] - xx[11] + xx[29];

  pm_math_quatXform(xx + 68, xx + 100, xx + 27);

  pm_math_cross3(xx + 183, xx + 345, xx + 76);

  xx[100] = xx[112] + xx[27] + xx[76];

  xx[101] = xx[113] + xx[28] + xx[77];

  xx[102] = xx[114] + xx[29] + xx[78];

  pm_math_quatXform(xx + 42, xx + 100, xx + 27);

  xx[0] = xx[117] + xx[27] - xx[49] * xx[343];

  xx[3] = xx[118] + xx[28] + xx[49] * xx[349];

  xx[9] = xx[3] * xx[15] + xx[19] * xx[0];

  xx[12] = xx[119] + xx[29];

  xx[27] = xx[18] + xx[0] - xx[80] * xx[9] * xx[19] - xx[115];

  xx[28] = xx[61] + xx[3] - xx[80] * xx[9] * xx[15] + xx[182];

  xx[29] = xx[12] - (xx[15] * xx[12] * xx[15] + xx[12] * xx[19] * xx[19]) * xx

    [80];

  pm_math_quatXform(xx + 72, xx + 27, xx + 76);

  xx[0] = xx[105] * xx[393];

  xx[3] = xx[105] * xx[391];

  xx[9] = xx[106] * xx[21];

  xx[12] = xx[123] * xx[21];

  xx[22] = xx[106] - (xx[21] * xx[9] - xx[25] * xx[12]) * xx[80];

  xx[27] = xx[123] - xx[80] * (xx[25] * xx[9] + xx[21] * xx[12]);

  xx[28] = (xx[0] * xx[306] + xx[3] * xx[398]) * xx[80] + xx[22] - xx[157];

  xx[29] = xx[158] + xx[80] * (xx[0] * xx[398] - xx[3] * xx[306]) + xx[27];

  xx[30] = xx[26] + xx[105] - (xx[3] * xx[391] + xx[393] * xx[0]) * xx[80] + xx

    [131];

  pm_math_cross3(xx + 28, xx + 267, xx + 100);

  pm_math_quatXform(xx + 160, xx + 100, xx + 28);

  xx[100] = xx[22];

  xx[101] = xx[27];

  xx[102] = xx[131];

  pm_math_cross3(xx + 100, xx + 126, xx + 108);

  pm_math_quatXform(xx + 428, xx + 108, xx + 100);

  xx[0] = xx[100] - xx[105] * xx[433];

  xx[3] = xx[101] + xx[105] * xx[432];

  xx[9] = xx[3] * xx[313] + xx[383] * xx[0];

  xx[108] = xx[105] * xx[33] + xx[0] - xx[80] * xx[9] * xx[383] - xx[156];

  xx[109] = xx[105] * xx[159] + xx[3] - xx[80] * xx[9] * xx[313] + xx[170];

  xx[110] = xx[102] - (xx[313] * xx[313] * xx[102] + xx[102] * xx[383] * xx[383])

    * xx[80];

  pm_math_quatXform(xx + 152, xx + 108, xx + 100);

  xx[0] = xx[49] * xx[489];

  xx[3] = xx[49] * xx[490];

  pm_math_quatInverseXform(xx + 484, xx + 183, xx + 108);

  pm_math_quatInverseXform(xx + 480, xx + 97, xx + 122);

  xx[9] = xx[440] * xx[57];

  xx[12] = xx[57] * xx[303] - xx[50] * xx[400];

  xx[22] = xx[440] * xx[50];

  xx[131] = xx[9];

  xx[132] = xx[12];

  xx[133] = - xx[22];

  pm_math_cross3(xx + 441, xx + 131, xx + 134);

  xx[131] = xx[209] + xx[80] * (xx[491] * xx[0] - xx[488] * xx[3]) + xx[108] +

    xx[122] + xx[80] * (xx[134] + xx[397] * xx[9]) - xx[50];

  xx[132] = (xx[488] * xx[0] + xx[491] * xx[3]) * xx[80] + xx[109] + xx[123] +

    xx[80] * (xx[135] + xx[397] * xx[12]) - xx[225];

  xx[133] = xx[116] + xx[49] - (xx[489] * xx[0] + xx[490] * xx[3]) * xx[80] +

    xx[110] + xx[124] + (xx[136] - xx[397] * xx[22]) * xx[80] - xx[57] - xx[83];

  pm_math_cross3(xx + 131, xx + 84, xx + 108);

  pm_math_quatXform(xx + 212, xx + 108, xx + 122);

  xx[108] = xx[457] * xx[83] - xx[493] * xx[57];

  xx[109] = xx[83] * xx[401] + xx[57] * xx[13] + xx[50] * xx[314];

  xx[110] = xx[83] * xx[444] + xx[493] * xx[50];

  pm_math_quatXform(xx + 140, xx + 108, xx + 131);

  pm_math_cross3(xx + 97, xx + 454, xx + 108);

  xx[134] = xx[51] + xx[131] + xx[108];

  xx[135] = xx[8] + xx[132] + xx[109];

  xx[136] = xx[133] - xx[11] + xx[110];

  pm_math_quatXform(xx + 68, xx + 134, xx + 108);

  pm_math_cross3(xx + 183, xx + 494, xx + 131);

  xx[134] = xx[112] + xx[108] + xx[131];

  xx[135] = xx[113] + xx[109] + xx[132];

  xx[136] = xx[114] + xx[110] + xx[133];

  pm_math_quatXform(xx + 42, xx + 134, xx + 108);

  xx[0] = xx[117] + xx[108] - xx[49] * xx[492];

  xx[3] = xx[118] + xx[109] + xx[49] * xx[498];

  xx[9] = xx[3] * xx[15] + xx[19] * xx[0];

  xx[12] = xx[119] + xx[110];

  xx[108] = xx[18] + xx[0] - xx[80] * xx[9] * xx[19] - xx[208];

  xx[109] = xx[61] + xx[3] - xx[80] * xx[9] * xx[15] + xx[210];

  xx[110] = xx[12] - (xx[15] * xx[12] * xx[15] + xx[12] * xx[19] * xx[19]) * xx

    [80];

  pm_math_quatXform(xx + 72, xx + 108, xx + 131);

  xx[0] = xx[149] * xx[558];

  xx[3] = xx[149] * xx[544];

  xx[9] = xx[150] * xx[21];

  xx[12] = xx[151] * xx[21];

  xx[13] = xx[150] - (xx[21] * xx[9] - xx[25] * xx[12]) * xx[80];

  xx[22] = xx[151] - xx[80] * (xx[25] * xx[9] + xx[21] * xx[12]);

  xx[108] = xx[172] + (xx[0] * xx[513] + xx[3] * xx[560]) * xx[80] + xx[13];

  xx[109] = xx[80] * (xx[0] * xx[560] - xx[3] * xx[513]) + xx[22] - xx[186];

  xx[110] = xx[5] + xx[149] - (xx[3] * xx[544] + xx[558] * xx[0]) * xx[80] + xx

    [164];

  pm_math_cross3(xx + 108, xx + 267, xx + 134);

  pm_math_quatXform(xx + 201, xx + 134, xx + 108);

  xx[134] = xx[13];

  xx[135] = xx[22];

  xx[136] = xx[164];

  pm_math_cross3(xx + 134, xx + 126, xx + 137);

  pm_math_quatXform(xx + 575, xx + 137, xx + 134);

  xx[0] = xx[134] - xx[149] * xx[580];

  xx[3] = xx[135] + xx[149] * xx[579];

  xx[5] = xx[3] * xx[452] + xx[399] * xx[0];

  xx[137] = xx[149] * xx[14] + xx[0] - xx[80] * xx[5] * xx[399] + xx[174];

  xx[138] = xx[149] * xx[192] + xx[3] - xx[80] * xx[5] * xx[452] - xx[193];

  xx[139] = xx[136] - (xx[452] * xx[452] * xx[136] + xx[136] * xx[399] * xx[399])

    * xx[80];

  pm_math_quatXform(xx + 188, xx + 137, xx + 12);

  xx[0] = xx[49] * xx[639];

  xx[3] = xx[49] * xx[640];

  pm_math_quatInverseXform(xx + 630, xx + 183, xx + 134);

  pm_math_quatInverseXform(xx + 626, xx + 97, xx + 137);

  xx[5] = xx[546] * xx[57];

  xx[9] = xx[57] * xx[379] - xx[50] * xx[473];

  xx[22] = xx[546] * xx[50];

  xx[144] = - xx[5];

  xx[145] = xx[9];

  xx[146] = xx[22];

  pm_math_cross3(xx + 601, xx + 144, xx + 149);

  xx[144] = xx[253] + xx[80] * (xx[641] * xx[0] - xx[638] * xx[3]) + xx[134] +

    xx[137] + xx[80] * (xx[149] + xx[312] * xx[5]) - xx[50];

  xx[145] = (xx[638] * xx[0] + xx[641] * xx[3]) * xx[80] + xx[135] + xx[138] +

    xx[80] * (xx[150] - xx[312] * xx[9]) - xx[266];

  xx[146] = xx[196] + xx[49] - (xx[639] * xx[0] + xx[640] * xx[3]) * xx[80] +

    xx[136] + xx[139] + (xx[151] - xx[312] * xx[22]) * xx[80] - xx[57] - xx[87];

  pm_math_cross3(xx + 144, xx + 84, xx + 134);

  pm_math_quatXform(xx + 277, xx + 134, xx + 137);

  xx[134] = xx[611] * xx[87] - xx[635] * xx[57];

  xx[135] = xx[535] * xx[87] + xx[57] * xx[463] + xx[50] * xx[446];

  xx[136] = xx[87] * xx[574] + xx[635] * xx[50];

  pm_math_quatXform(xx + 140, xx + 134, xx + 87);

  pm_math_cross3(xx + 97, xx + 595, xx + 134);

  xx[144] = xx[51] + xx[87] + xx[134];

  xx[145] = xx[8] + xx[88] + xx[135];

  xx[146] = xx[89] - xx[11] + xx[136];

  pm_math_quatXform(xx + 68, xx + 144, xx + 87);

  pm_math_cross3(xx + 183, xx + 644, xx + 134);

  xx[144] = xx[112] + xx[87] + xx[134];

  xx[145] = xx[113] + xx[88] + xx[135];

  xx[146] = xx[114] + xx[89] + xx[136];

  pm_math_quatXform(xx + 42, xx + 144, xx + 87);

  xx[0] = xx[117] + xx[87] - xx[49] * xx[634];

  xx[3] = xx[118] + xx[88] + xx[49] * xx[636];

  xx[5] = xx[3] * xx[15] + xx[19] * xx[0];

  xx[9] = xx[119] + xx[89];

  xx[87] = xx[18] + xx[0] - xx[80] * xx[5] * xx[19] - xx[233];

  xx[88] = xx[61] + xx[3] - xx[80] * xx[5] * xx[15] + xx[254];

  xx[89] = xx[9] - (xx[15] * xx[9] * xx[15] + xx[9] * xx[19] * xx[19]) * xx[80];

  pm_math_quatXform(xx + 72, xx + 87, xx + 134);

  xx[0] = xx[165] * xx[706];

  xx[3] = xx[165] * xx[686];

  xx[5] = xx[166] * xx[21];

  xx[9] = xx[167] * xx[21];

  xx[22] = xx[166] - (xx[21] * xx[5] - xx[25] * xx[9]) * xx[80];

  xx[26] = xx[167] - xx[80] * (xx[25] * xx[5] + xx[21] * xx[9]);

  xx[87] = xx[217] + (xx[0] * xx[670] + xx[3] * xx[708]) * xx[80] + xx[22];

  xx[88] = xx[80] * (xx[0] * xx[708] - xx[3] * xx[670]) + xx[26] - xx[231];

  xx[89] = xx[24] + xx[165] - (xx[3] * xx[686] + xx[706] * xx[0]) * xx[80] + xx

    [168];

  pm_math_cross3(xx + 87, xx + 267, xx + 144);

  pm_math_quatXform(xx + 234, xx + 144, xx + 87);

  xx[144] = xx[22];

  xx[145] = xx[26];

  xx[146] = xx[168];

  pm_math_cross3(xx + 144, xx + 126, xx + 149);

  pm_math_quatXform(xx + 725, xx + 149, xx + 144);

  xx[0] = xx[144] - xx[165] * xx[730];

  xx[3] = xx[145] + xx[165] * xx[729];

  xx[5] = xx[3] * xx[605] + xx[532] * xx[0];

  xx[149] = xx[165] * xx[211] + xx[0] - xx[80] * xx[5] * xx[532] + xx[239];

  xx[150] = xx[165] * xx[251] + xx[3] - xx[80] * xx[5] * xx[605] - xx[252];

  xx[151] = xx[146] - (xx[605] * xx[605] * xx[146] + xx[146] * xx[532] * xx[532])

    * xx[80];

  pm_math_quatXform(xx + 226, xx + 149, xx + 144);

  xx[0] = xx[49] * xx[916];

  xx[3] = xx[49] * xx[917];

  pm_math_quatInverseXform(xx + 911, xx + 183, xx + 149);

  pm_math_quatInverseXform(xx + 897, xx + 97, xx + 152);

  xx[5] = xx[50] * xx[637];

  xx[155] = xx[310] + xx[80] * (xx[918] * xx[0] - xx[915] * xx[3]) + xx[149] +

    xx[152] + xx[80] * xx[5] * xx[637] - xx[50];

  xx[156] = (xx[915] * xx[0] + xx[918] * xx[3]) * xx[80] + xx[150] + xx[153] -

    xx[80] * xx[2] * xx[5] - xx[330];

  xx[157] = xx[194] + xx[49] - (xx[916] * xx[0] + xx[917] * xx[3]) * xx[80] +

    xx[151] + xx[154] - (xx[57] + xx[104]);

  pm_math_cross3(xx + 155, xx + 84, xx + 149);

  pm_math_quatXform(xx + 319, xx + 149, xx + 83);

  xx[149] = xx[17] * xx[104] - xx[57] * xx[66];

  xx[150] = - (xx[104] * xx[20] + xx[57] * xx[707] + xx[790] * xx[50]);

  xx[151] = xx[50] * xx[66];

  pm_math_quatXform(xx + 140, xx + 149, xx + 55);

  pm_math_cross3(xx + 97, xx + 891, xx + 104);

  xx[97] = xx[51] + xx[55] + xx[104];

  xx[98] = xx[8] + xx[56] + xx[105];

  xx[99] = xx[57] - xx[11] + xx[106];

  pm_math_quatXform(xx + 68, xx + 97, xx + 55);

  pm_math_cross3(xx + 183, xx + 919, xx + 66);

  xx[69] = xx[112] + xx[55] + xx[66];

  xx[70] = xx[113] + xx[56] + xx[67];

  xx[71] = xx[114] + xx[57] + xx[68];

  pm_math_quatXform(xx + 42, xx + 69, xx + 55);

  xx[0] = xx[117] + xx[55] - xx[49] * xx[121];

  xx[2] = xx[118] + xx[56] + xx[49] * xx[148];

  xx[3] = xx[2] * xx[15] + xx[19] * xx[0];

  xx[5] = xx[119] + xx[57];

  xx[40] = xx[18] + xx[0] - xx[80] * xx[3] * xx[19] - xx[81];

  xx[41] = xx[61] + xx[2] - xx[80] * xx[3] * xx[15] + xx[82];

  xx[42] = xx[5] - (xx[15] * xx[5] * xx[15] + xx[5] * xx[19] * xx[19]) * xx[80];

  pm_math_quatXform(xx + 72, xx + 40, xx + 17);

  xx[0] = xx[16] * xx[745];

  xx[2] = xx[16] * xx[743];

  xx[3] = xx[46] * xx[21];

  xx[5] = xx[47] * xx[21];

  xx[8] = xx[46] - (xx[21] * xx[3] - xx[25] * xx[5]) * xx[80];

  xx[9] = xx[47] - xx[80] * (xx[25] * xx[3] + xx[21] * xx[5]);

  xx[20] = xx[260] + (xx[0] * xx[720] + xx[2] * xx[753]) * xx[80] + xx[8];

  xx[21] = xx[80] * (xx[0] * xx[753] - xx[2] * xx[720]) + xx[9] - xx[288];

  xx[22] = xx[107] + xx[16] - (xx[2] * xx[743] + xx[745] * xx[0]) * xx[80] + xx

    [48];

  pm_math_cross3(xx + 20, xx + 267, xx + 24);

  pm_math_quatXform(xx + 292, xx + 24, xx + 20);

  xx[24] = xx[8];

  xx[25] = xx[9];

  xx[26] = xx[48];

  pm_math_cross3(xx + 24, xx + 126, xx + 40);

  pm_math_quatXform(xx + 777, xx + 40, xx + 24);

  xx[0] = xx[24] - xx[16] * xx[782];

  xx[2] = xx[25] + xx[16] * xx[781];

  xx[3] = xx[2] * xx[660] + xx[643] * xx[0];

  xx[40] = xx[0] - xx[80] * xx[3] * xx[643] - xx[16] * xx[270] + xx[291];

  xx[41] = xx[16] * xx[299] + xx[2] - xx[80] * xx[3] * xx[660] - xx[304];

  xx[42] = xx[26] - (xx[660] * xx[660] * xx[26] + xx[26] * xx[643] * xx[643]) *

    xx[80];

  pm_math_quatXform(xx + 284, xx + 40, xx + 24);

  xx[147] = fabs(xx[63] + xx[34] + xx[58] - (xx[91] + xx[4] + xx[35]));

  xx[148] = fabs(xx[64] + xx[90] + xx[59] - (xx[92] + xx[96] + xx[36]));

  xx[149] = fabs(xx[65] + xx[1] + xx[60] - (xx[93] + xx[6] + xx[37]));

  xx[150] = fabs(xx[52] + xx[34] + xx[76] - (xx[28] + xx[31] + xx[100]));

  xx[151] = fabs(xx[53] + xx[90] + xx[77] - (xx[29] + xx[39] + xx[101]));

  xx[152] = fabs(xx[54] + xx[1] + xx[78] - (xx[30] + xx[103] + xx[102]));

  xx[153] = fabs(xx[122] + xx[34] + xx[131] - (xx[108] + xx[12] - xx[111]));

  xx[154] = fabs(xx[123] + xx[90] + xx[132] - (xx[109] + xx[130] + xx[13]));

  xx[155] = fabs(xx[124] + xx[1] + xx[133] - (xx[110] + xx[173] + xx[14]));

  xx[156] = fabs(xx[137] + xx[34] + xx[134] - (xx[87] + xx[200] + xx[144]));

  xx[157] = fabs(xx[138] + xx[90] + xx[135] - (xx[88] + xx[216] + xx[145]));

  xx[158] = fabs(xx[139] + xx[1] + xx[136] - (xx[89] + xx[218] + xx[146]));

  xx[159] = fabs(xx[83] + xx[34] + xx[17] - (xx[20] + xx[232] + xx[24]));

  xx[160] = fabs(xx[84] + xx[90] + xx[18] - (xx[21] + xx[23] + xx[25]));

  xx[161] = fabs(xx[85] + xx[1] + xx[19] - (xx[22] + xx[10] + xx[26]));

  ii[0] = 147;



  {

    int ll;

    for (ll = 148; ll < 162; ++ll)

      if (xx[ll] > xx[ii[0]])

        ii[0] = ll;

  }



  ii[0] -= 147;

  xx[0] = xx[147 + (ii[0])];

  xx[1] = xx[0] - xx[7];

  if (xx[1] < 0.0)

    ii[1] = -1;

  else if (xx[1] > 0.0)

    ii[1] = +1;

  else

    ii[1] = 0;

  ii[2] = ii[1];

  if (0 > ii[2])

    ii[2] = 0;

  if (ii[2] != 0) {

    switch (ii[0])

    {

     case 0:

     case 1:

     case 2:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_11/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 3:

     case 4:

     case 5:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_12/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 6:

     case 7:

     case 8:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_13/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 9:

     case 10:

     case 11:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_14/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }



     case 12:

     case 13:

     case 14:

      {

        return sm_ssci_recordRunTimeError(

          "sm:compiler:messages:simulationErrors:ConstraintViolation",

          "'PlatformAssem/Rod_assem_1/Spherical1' kinematic constraints cannot be maintained. Check solver type and consistency tolerance in the Simscape Solver Configuration block. Check Simulink solver type and tolerances in Model Configuration Parameters. A kinematic singularity might be the source of this problem.",

          neDiagMgr);

      }

    }

  }



  state[0] = xx[922];

  state[1] = xx[923];

  state[2] = xx[924];

  state[3] = xx[925];

  state[4] = xx[926];

  state[5] = xx[927];

  state[6] = xx[928];

  state[7] = xx[929];

  state[8] = xx[930];

  state[9] = xx[931];

  state[10] = xx[932];

  state[11] = xx[933];

  state[12] = xx[934];

  state[13] = xx[935];

  state[14] = xx[936];

  state[15] = xx[937];

  state[16] = xx[938];

  state[17] = xx[939];

  state[18] = xx[940];

  state[19] = xx[941];

  state[20] = xx[942];

  state[21] = xx[943];

  state[22] = xx[944];

  state[23] = xx[945];

  state[24] = xx[946];

  state[25] = xx[947];

  state[26] = xx[948];

  state[27] = xx[949];

  state[28] = xx[950];

  state[29] = xx[951];

  state[30] = xx[952];

  state[31] = xx[953];

  state[32] = xx[954];

  state[33] = xx[955];

  state[34] = xx[956];

  state[35] = xx[957];

  state[36] = xx[958];

  state[37] = xx[959];

  state[38] = xx[960];

  state[39] = xx[961];

  state[40] = xx[962];

  state[41] = xx[963];

  state[42] = xx[964];

  state[43] = xx[965];

  state[44] = xx[966];

  state[45] = xx[967];

  state[46] = xx[968];

  state[47] = xx[969];

  state[48] = xx[970];

  state[49] = xx[971];

  state[50] = xx[972];

  state[51] = xx[973];

  state[52] = xx[974];

  state[53] = xx[975];

  state[54] = xx[976];

  state[55] = xx[977];

  state[56] = xx[978];

  state[57] = xx[979];

  state[58] = xx[980];

  state[59] = xx[981];

  state[60] = xx[982];

  state[61] = xx[983];

  state[62] = xx[984];

  state[63] = xx[985];

  state[64] = xx[986];

  state[65] = xx[987];

  state[66] = xx[988];

  state[67] = xx[989];

  state[68] = xx[990];

  state[69] = xx[991];

  state[70] = xx[992];

  state[71] = xx[993];

  state[72] = xx[994];

  state[73] = xx[995];

  state[74] = xx[996];

  state[75] = xx[997];

  state[76] = xx[998];

  state[77] = xx[999];

  state[78] = xx[1000];

  state[79] = xx[1001];

  state[80] = xx[1002];

  state[81] = xx[1003];

  state[82] = xx[1004];

  state[83] = xx[1005];

  state[84] = xx[1006];

  state[85] = xx[1007];

  state[86] = xx[1008];

  state[87] = xx[1009];

  state[88] = xx[1010];

  state[89] = xx[1011];

  state[90] = xx[1012];

  state[91] = xx[1013];

  state[92] = xx[1014];

  state[93] = xx[1015];

  state[94] = xx[1016];

  state[95] = xx[1017];

  state[96] = xx[1018];

  return NULL;

}